diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h | 61 |
1 files changed, 28 insertions, 33 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h index 0c12aeef15..96136d7dd7 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -17,28 +17,26 @@ subject to the following restrictions: #define BT_CONVEX_HULL_SHAPE_H #include "btPolyhedralConvexShape.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types #include "LinearMath/btAlignedObjectArray.h" - ///The btConvexHullShape implements an implicit convex hull of an array of vertices. ///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex. -ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape +ATTRIBUTE_ALIGNED16(class) +btConvexHullShape : public btPolyhedralConvexAabbCachingShape { - btAlignedObjectArray<btVector3> m_unscaledPoints; + btAlignedObjectArray<btVector3> m_unscaledPoints; public: BT_DECLARE_ALIGNED_ALLOCATOR(); - ///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. ///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. ///btConvexHullShape make an internal copy of the points. - btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3)); + btConvexHullShape(const btScalar* points = 0, int numPoints = 0, int stride = sizeof(btVector3)); void addPoint(const btVector3& point, bool recalculateLocalAabb = true); - btVector3* getUnscaledPoints() { return &m_unscaledPoints[0]; @@ -55,48 +53,46 @@ public: return getUnscaledPoints(); } - void optimizeConvexHull(); - - SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const + void optimizeConvexHull(); + + SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const { return m_unscaledPoints[i] * m_localScaling; } - SIMD_FORCE_INLINE int getNumPoints() const + SIMD_FORCE_INLINE int getNumPoints() const { return m_unscaledPoints.size(); } - virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - - - virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; + virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin, btVector3& witnesPtMax) const; //debugging - virtual const char* getName()const {return "Convex";} + virtual const char* getName() const { return "Convex"; } - - virtual int getNumVertices() const; + virtual int getNumVertices() const; virtual int getNumEdges() const; - virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; - virtual void getVertex(int i,btVector3& vtx) const; - virtual int getNumPlanes() const; - virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; - virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + virtual void getEdge(int i, btVector3& pa, btVector3& pb) const; + virtual void getVertex(int i, btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const; + virtual bool isInside(const btVector3& pt, btScalar tolerance) const; ///in case we receive negative scaling - virtual void setLocalScaling(const btVector3& scaling); + virtual void setLocalScaling(const btVector3& scaling); - virtual int calculateSerializeBufferSize() const; + virtual int calculateSerializeBufferSize() const; ///fills the dataBuffer and returns the struct name (and 0 on failure) - virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; - + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; }; +// clang-format off + ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btConvexHullShapeData { @@ -110,12 +106,11 @@ struct btConvexHullShapeData }; +// clang-format on -SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const { return sizeof(btConvexHullShapeData); } - -#endif //BT_CONVEX_HULL_SHAPE_H - +#endif //BT_CONVEX_HULL_SHAPE_H |