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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h123
1 files changed, 52 insertions, 71 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
index 1213b82fbe..a28c57de4b 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -19,39 +19,35 @@ subject to the following restrictions:
#include "btConvexShape.h"
#include "LinearMath/btAabbUtil2.h"
-
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
-///Note that when creating small shapes (derived from btConvexInternalShape),
+///Note that when creating small shapes (derived from btConvexInternalShape),
///you need to make sure to set a smaller collision margin, using the 'setMargin' API
///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
-ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
+ATTRIBUTE_ALIGNED16(class)
+btConvexInternalShape : public btConvexShape
{
-
- protected:
-
+protected:
//local scaling. collisionMargin is not scaled !
- btVector3 m_localScaling;
+ btVector3 m_localScaling;
+
+ btVector3 m_implicitShapeDimensions;
- btVector3 m_implicitShapeDimensions;
-
- btScalar m_collisionMargin;
+ btScalar m_collisionMargin;
- btScalar m_padding;
+ btScalar m_padding;
btConvexInternalShape();
public:
-
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btConvexInternalShape()
{
-
}
- virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
+ virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
const btVector3& getImplicitShapeDimensions() const
{
@@ -62,110 +58,102 @@ public:
///changing a collision shape while the body is in the world is not recommended,
///it is best to remove the body from the world, then make the change, and re-add it
///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
- void setImplicitShapeDimensions(const btVector3& dimensions)
+ void setImplicitShapeDimensions(const btVector3& dimensions)
{
m_implicitShapeDimensions = dimensions;
}
- void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
+ void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
{
- btScalar safeMargin = defaultMarginMultiplier*minDimension;
+ btScalar safeMargin = defaultMarginMultiplier * minDimension;
if (safeMargin < getMargin())
{
setMargin(safeMargin);
}
}
- void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
+ void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
{
//see http://code.google.com/p/bullet/issues/detail?id=349
//this margin check could could be added to other collision shapes too,
//or add some assert/warning somewhere
- btScalar minDimension=halfExtents[halfExtents.minAxis()];
+ btScalar minDimension = halfExtents[halfExtents.minAxis()];
setSafeMargin(minDimension, defaultMarginMultiplier);
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
- void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+ void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
- getAabbSlow(t,aabbMin,aabbMax);
+ getAabbSlow(t, aabbMin, aabbMax);
}
+ virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
-
- virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-
- virtual void setLocalScaling(const btVector3& scaling);
- virtual const btVector3& getLocalScaling() const
+ virtual void setLocalScaling(const btVector3& scaling);
+ virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
- const btVector3& getLocalScalingNV() const
+ const btVector3& getLocalScalingNV() const
{
return m_localScaling;
}
- virtual void setMargin(btScalar margin)
+ virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
- virtual btScalar getMargin() const
+ virtual btScalar getMargin() const
{
return m_collisionMargin;
}
- btScalar getMarginNV() const
+ btScalar getMarginNV() const
{
return m_collisionMargin;
}
- virtual int getNumPreferredPenetrationDirections() const
+ virtual int getNumPreferredPenetrationDirections() const
{
return 0;
}
-
- virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+
+ virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
(void)penetrationVector;
(void)index;
btAssert(0);
}
- 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;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct btConvexInternalShapeData
+struct btConvexInternalShapeData
{
- btCollisionShapeData m_collisionShapeData;
+ btCollisionShapeData m_collisionShapeData;
- btVector3FloatData m_localScaling;
+ btVector3FloatData m_localScaling;
- btVector3FloatData m_implicitShapeDimensions;
-
- float m_collisionMargin;
+ btVector3FloatData m_implicitShapeDimensions;
- int m_padding;
+ float m_collisionMargin;
+ int m_padding;
};
-
-
-SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
+SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
{
return sizeof(btConvexInternalShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
+SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
- btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
+ btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer;
btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
@@ -178,50 +166,43 @@ SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer,
return "btConvexInternalShapeData";
}
-
-
-
///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
class btConvexInternalAabbCachingShape : public btConvexInternalShape
{
- btVector3 m_localAabbMin;
- btVector3 m_localAabbMax;
- bool m_isLocalAabbValid;
-
+ btVector3 m_localAabbMin;
+ btVector3 m_localAabbMax;
+ bool m_isLocalAabbValid;
+
protected:
-
btConvexInternalAabbCachingShape();
-
- void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+
+ void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax)
{
m_isLocalAabbValid = true;
m_localAabbMin = aabbMin;
m_localAabbMax = aabbMax;
}
- inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+ inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const
{
btAssert(m_isLocalAabbValid);
aabbMin = m_localAabbMin;
aabbMax = m_localAabbMax;
}
- inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+ inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const
{
-
//lazy evaluation of local aabb
btAssert(m_isLocalAabbValid);
- btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
+ btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax);
}
-
-public:
-
- virtual void setLocalScaling(const btVector3& scaling);
- virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+public:
+ virtual void setLocalScaling(const btVector3& scaling);
- void recalcLocalAabb();
+ virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
+ void recalcLocalAabb();
};
-#endif //BT_CONVEX_INTERNAL_SHAPE_H
+#endif //BT_CONVEX_INTERNAL_SHAPE_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-20 13:18:47 +0000