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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h317
1 files changed, 147 insertions, 170 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
index 715e3f2ab9..3c65505d5b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.h
@@ -23,112 +23,102 @@ subject to the following restrictions:
#include "LinearMath/btMinMax.h"
///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btBoxShape : public btPolyhedralConvexShape
{
-
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
-
public:
-
-BT_DECLARE_ALIGNED_ALLOCATOR();
+ BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
- btVector3 margin(getMargin(),getMargin(),getMargin());
+ btVector3 margin(getMargin(), getMargin(), getMargin());
halfExtents += margin;
return halfExtents;
}
-
+
const btVector3& getHalfExtentsWithoutMargin() const
{
- return m_implicitShapeDimensions;//scaling is included, margin is not
+ return m_implicitShapeDimensions; //scaling is included, margin is not
}
-
- virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
+ virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
- btVector3 margin(getMargin(),getMargin(),getMargin());
+ btVector3 margin(getMargin(), getMargin(), getMargin());
halfExtents += margin;
-
+
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
- btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
- btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+ btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+ btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
- SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+ SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-
+
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
- btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
- btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+ btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+ btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
- virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+ virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-
- for (int i=0;i<numVectors;i++)
+
+ for (int i = 0; i < numVectors; i++)
{
const btVector3& vec = vectors[i];
supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
- btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
- btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+ btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+ btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
-
}
-
- btBoxShape( const btVector3& boxHalfExtents);
+ btBoxShape(const btVector3& boxHalfExtents);
virtual void setMargin(btScalar collisionMargin)
{
//correct the m_implicitShapeDimensions for the margin
- btVector3 oldMargin(getMargin(),getMargin(),getMargin());
- btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-
+ btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+ btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
+
btConvexInternalShape::setMargin(collisionMargin);
- btVector3 newMargin(getMargin(),getMargin(),getMargin());
+ btVector3 newMargin(getMargin(), getMargin(), getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
}
- virtual void setLocalScaling(const btVector3& scaling)
+ virtual void setLocalScaling(const btVector3& scaling)
{
- btVector3 oldMargin(getMargin(),getMargin(),getMargin());
- btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+ btVector3 oldMargin(getMargin(), getMargin(), getMargin());
+ btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-
}
- virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+ virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
+ virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
- virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
- virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+ virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
{
//this plane might not be aligned...
- btVector4 plane ;
- getPlaneEquation(plane,i);
- planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+ btVector4 plane;
+ getPlaneEquation(plane, i);
+ planeNormal = btVector3(plane.getX(), plane.getY(), plane.getZ());
planeSupport = localGetSupportingVertex(-planeNormal);
}
-
virtual int getNumPlanes() const
{
return 6;
- }
-
- virtual int getNumVertices() const
+ }
+
+ virtual int getNumVertices() const
{
return 8;
}
@@ -138,49 +128,46 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
return 12;
}
-
- virtual void getVertex(int i,btVector3& vtx) const
+ virtual void getVertex(int i, btVector3& vtx) const
{
btVector3 halfExtents = getHalfExtentsWithMargin();
vtx = btVector3(
- halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
- halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
- halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+ halfExtents.x() * (1 - (i & 1)) - halfExtents.x() * (i & 1),
+ halfExtents.y() * (1 - ((i & 2) >> 1)) - halfExtents.y() * ((i & 2) >> 1),
+ halfExtents.z() * (1 - ((i & 4) >> 2)) - halfExtents.z() * ((i & 4) >> 2));
}
-
- virtual void getPlaneEquation(btVector4& plane,int i) const
+ virtual void getPlaneEquation(btVector4 & plane, int i) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
switch (i)
{
- case 0:
- plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
- break;
- case 1:
- plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
- break;
- case 2:
- plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
- break;
- case 3:
- plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
- break;
- case 4:
- plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
- break;
- case 5:
- plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
- break;
- default:
- btAssert(0);
+ case 0:
+ plane.setValue(btScalar(1.), btScalar(0.), btScalar(0.), -halfExtents.x());
+ break;
+ case 1:
+ plane.setValue(btScalar(-1.), btScalar(0.), btScalar(0.), -halfExtents.x());
+ break;
+ case 2:
+ plane.setValue(btScalar(0.), btScalar(1.), btScalar(0.), -halfExtents.y());
+ break;
+ case 3:
+ plane.setValue(btScalar(0.), btScalar(-1.), btScalar(0.), -halfExtents.y());
+ break;
+ case 4:
+ plane.setValue(btScalar(0.), btScalar(0.), btScalar(1.), -halfExtents.z());
+ break;
+ case 5:
+ plane.setValue(btScalar(0.), btScalar(0.), btScalar(-1.), -halfExtents.z());
+ break;
+ default:
+ btAssert(0);
}
}
-
- virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+ virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
//virtual void getEdge(int i,Edge& edge) const
{
int edgeVert0 = 0;
@@ -188,127 +175,117 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
switch (i)
{
- case 0:
+ case 0:
edgeVert0 = 0;
edgeVert1 = 1;
- break;
- case 1:
+ break;
+ case 1:
edgeVert0 = 0;
edgeVert1 = 2;
- break;
- case 2:
- edgeVert0 = 1;
- edgeVert1 = 3;
-
- break;
- case 3:
- edgeVert0 = 2;
- edgeVert1 = 3;
- break;
- case 4:
- edgeVert0 = 0;
- edgeVert1 = 4;
- break;
- case 5:
- edgeVert0 = 1;
- edgeVert1 = 5;
-
- break;
- case 6:
- edgeVert0 = 2;
- edgeVert1 = 6;
- break;
- case 7:
- edgeVert0 = 3;
- edgeVert1 = 7;
- break;
- case 8:
- edgeVert0 = 4;
- edgeVert1 = 5;
- break;
- case 9:
- edgeVert0 = 4;
- edgeVert1 = 6;
- break;
- case 10:
- edgeVert0 = 5;
- edgeVert1 = 7;
- break;
- case 11:
- edgeVert0 = 6;
- edgeVert1 = 7;
- break;
- default:
- btAssert(0);
-
+ break;
+ case 2:
+ edgeVert0 = 1;
+ edgeVert1 = 3;
+
+ break;
+ case 3:
+ edgeVert0 = 2;
+ edgeVert1 = 3;
+ break;
+ case 4:
+ edgeVert0 = 0;
+ edgeVert1 = 4;
+ break;
+ case 5:
+ edgeVert0 = 1;
+ edgeVert1 = 5;
+
+ break;
+ case 6:
+ edgeVert0 = 2;
+ edgeVert1 = 6;
+ break;
+ case 7:
+ edgeVert0 = 3;
+ edgeVert1 = 7;
+ break;
+ case 8:
+ edgeVert0 = 4;
+ edgeVert1 = 5;
+ break;
+ case 9:
+ edgeVert0 = 4;
+ edgeVert1 = 6;
+ break;
+ case 10:
+ edgeVert0 = 5;
+ edgeVert1 = 7;
+ break;
+ case 11:
+ edgeVert0 = 6;
+ edgeVert1 = 7;
+ break;
+ default:
+ btAssert(0);
}
- getVertex(edgeVert0,pa );
- getVertex(edgeVert1,pb );
+ getVertex(edgeVert0, pa);
+ getVertex(edgeVert1, pb);
}
-
-
-
-
- virtual bool isInside(const btVector3& pt,btScalar tolerance) const
+ virtual bool isInside(const btVector3& pt, btScalar tolerance) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
//btScalar minDist = 2*tolerance;
-
- bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
- (pt.x() >= (-halfExtents.x()-tolerance)) &&
- (pt.y() <= (halfExtents.y()+tolerance)) &&
- (pt.y() >= (-halfExtents.y()-tolerance)) &&
- (pt.z() <= (halfExtents.z()+tolerance)) &&
- (pt.z() >= (-halfExtents.z()-tolerance));
-
+
+ bool result = (pt.x() <= (halfExtents.x() + tolerance)) &&
+ (pt.x() >= (-halfExtents.x() - tolerance)) &&
+ (pt.y() <= (halfExtents.y() + tolerance)) &&
+ (pt.y() >= (-halfExtents.y() - tolerance)) &&
+ (pt.z() <= (halfExtents.z() + tolerance)) &&
+ (pt.z() >= (-halfExtents.z() - tolerance));
+
return result;
}
-
//debugging
- virtual const char* getName()const
+ virtual const char* getName() const
{
return "Box";
}
- virtual int getNumPreferredPenetrationDirections() const
+ virtual int getNumPreferredPenetrationDirections() const
{
return 6;
}
-
- virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+
+ virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
switch (index)
{
- case 0:
- penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
- break;
- case 1:
- penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
- break;
- case 2:
- penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
- break;
- case 3:
- penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
- break;
- case 4:
- penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
- break;
- case 5:
- penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
- break;
- default:
- btAssert(0);
+ case 0:
+ penetrationVector.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
+ break;
+ case 1:
+ penetrationVector.setValue(btScalar(-1.), btScalar(0.), btScalar(0.));
+ break;
+ case 2:
+ penetrationVector.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
+ break;
+ case 3:
+ penetrationVector.setValue(btScalar(0.), btScalar(-1.), btScalar(0.));
+ break;
+ case 4:
+ penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
+ break;
+ case 5:
+ penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(-1.));
+ break;
+ default:
+ btAssert(0);
}
}
-
};
-
-#endif //BT_OBB_BOX_MINKOWSKI_H
-
-
+#endif //BT_OBB_BOX_MINKOWSKI_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-08 00:42:47 +0000