diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp | 57 |
1 files changed, 27 insertions, 30 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp index 823e2788f2..0b3640a65b 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp @@ -20,47 +20,44 @@ subject to the following restrictions: can be used by probes that are checking whether the library is actually installed. */ -extern "C" +extern "C" { -void btBulletCollisionProbe (); + void btBulletCollisionProbe(); -void btBulletCollisionProbe () {} + void btBulletCollisionProbe() {} } - - -void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const +void btCollisionShape::getBoundingSphere(btVector3& center, btScalar& radius) const { btTransform tr; tr.setIdentity(); - btVector3 aabbMin,aabbMax; + btVector3 aabbMin, aabbMax; - getAabb(tr,aabbMin,aabbMax); + getAabb(tr, aabbMin, aabbMax); - radius = (aabbMax-aabbMin).length()*btScalar(0.5); - center = (aabbMin+aabbMax)*btScalar(0.5); + radius = (aabbMax - aabbMin).length() * btScalar(0.5); + center = (aabbMin + aabbMax) * btScalar(0.5); } - -btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const +btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const { return getAngularMotionDisc() * defaultContactThreshold; } -btScalar btCollisionShape::getAngularMotionDisc() const +btScalar btCollisionShape::getAngularMotionDisc() const { ///@todo cache this value, to improve performance - btVector3 center; + btVector3 center; btScalar disc; - getBoundingSphere(center,disc); + getBoundingSphere(center, disc); disc += (center).length(); return disc; } -void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const +void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const { //start with static aabb - getAabb(curTrans,temporalAabbMin,temporalAabbMax); + getAabb(curTrans, temporalAabbMin, temporalAabbMax); btScalar temporalAabbMaxx = temporalAabbMax.getX(); btScalar temporalAabbMaxy = temporalAabbMax.getY(); @@ -70,36 +67,36 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b btScalar temporalAabbMinz = temporalAabbMin.getZ(); // add linear motion - btVector3 linMotion = linvel*timeStep; + btVector3 linMotion = linvel * timeStep; ///@todo: simd would have a vector max/min operation, instead of per-element access if (linMotion.x() > btScalar(0.)) - temporalAabbMaxx += linMotion.x(); + temporalAabbMaxx += linMotion.x(); else temporalAabbMinx += linMotion.x(); if (linMotion.y() > btScalar(0.)) - temporalAabbMaxy += linMotion.y(); + temporalAabbMaxy += linMotion.y(); else temporalAabbMiny += linMotion.y(); if (linMotion.z() > btScalar(0.)) - temporalAabbMaxz += linMotion.z(); + temporalAabbMaxz += linMotion.z(); else temporalAabbMinz += linMotion.z(); //add conservative angular motion btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep; - btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion); - temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz); - temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz); + btVector3 angularMotion3d(angularMotion, angularMotion, angularMotion); + temporalAabbMin = btVector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz); + temporalAabbMax = btVector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz); temporalAabbMin -= angularMotion3d; temporalAabbMax += angularMotion3d; } ///fills the dataBuffer and returns the struct name (and 0 on failure) -const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const +const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const { - btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer; - char* name = (char*) serializer->findNameForPointer(this); + btCollisionShapeData* shapeData = (btCollisionShapeData*)dataBuffer; + char* name = (char*)serializer->findNameForPointer(this); shapeData->m_name = (char*)serializer->getUniquePointer(name); if (shapeData->m_name) { @@ -113,10 +110,10 @@ const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializ return "btCollisionShapeData"; } -void btCollisionShape::serializeSingleShape(btSerializer* serializer) const +void btCollisionShape::serializeSingleShape(btSerializer* serializer) const { int len = calculateSerializeBufferSize(); - btChunk* chunk = serializer->allocate(len,1); + btChunk* chunk = serializer->allocate(len, 1); const char* structType = serialize(chunk->m_oldPtr, serializer); - serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this); + serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, (void*)this); }
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