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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp458
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diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
deleted file mode 100644
index f8fb0aa9fd..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ /dev/null
@@ -1,458 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#if defined(_WIN32) || defined(__i386__)
-#define BT_USE_SSE_IN_API
-#endif
-
-#include "btConvexShape.h"
-#include "btTriangleShape.h"
-#include "btSphereShape.h"
-#include "btCylinderShape.h"
-#include "btConeShape.h"
-#include "btCapsuleShape.h"
-#include "btConvexHullShape.h"
-#include "btConvexPointCloudShape.h"
-
-///not supported on IBM SDK, until we fix the alignment of btVector3
-#if defined(__CELLOS_LV2__) && defined(__SPU__)
-#include <spu_intrinsics.h>
-static inline vec_float4 vec_dot3(vec_float4 vec0, vec_float4 vec1)
-{
- vec_float4 result;
- result = spu_mul(vec0, vec1);
- result = spu_madd(spu_rlqwbyte(vec0, 4), spu_rlqwbyte(vec1, 4), result);
- return spu_madd(spu_rlqwbyte(vec0, 8), spu_rlqwbyte(vec1, 8), result);
-}
-#endif //__SPU__
-
-btConvexShape::btConvexShape()
-{
-}
-
-btConvexShape::~btConvexShape()
-{
-}
-
-void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin, btVector3& witnesPtMax) const
-{
- btVector3 localAxis = dir * trans.getBasis();
- btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
- btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
-
- min = vtx1.dot(dir);
- max = vtx2.dot(dir);
- witnesPtMax = vtx2;
- witnesPtMin = vtx1;
-
- if (min > max)
- {
- btScalar tmp = min;
- min = max;
- max = tmp;
- witnesPtMax = vtx1;
- witnesPtMin = vtx2;
- }
-}
-
-static btVector3 convexHullSupport(const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
-{
- btVector3 vec = localDirOrg * localScaling;
-
-#if defined(__CELLOS_LV2__) && defined(__SPU__)
-
- btVector3 localDir = vec;
-
- vec_float4 v_distMax = {-FLT_MAX, 0, 0, 0};
- vec_int4 v_idxMax = {-999, 0, 0, 0};
- int v = 0;
- int numverts = numPoints;
-
- for (; v < (int)numverts - 4; v += 4)
- {
- vec_float4 p0 = vec_dot3(points[v].get128(), localDir.get128());
- vec_float4 p1 = vec_dot3(points[v + 1].get128(), localDir.get128());
- vec_float4 p2 = vec_dot3(points[v + 2].get128(), localDir.get128());
- vec_float4 p3 = vec_dot3(points[v + 3].get128(), localDir.get128());
- const vec_int4 i0 = {v, 0, 0, 0};
- const vec_int4 i1 = {v + 1, 0, 0, 0};
- const vec_int4 i2 = {v + 2, 0, 0, 0};
- const vec_int4 i3 = {v + 3, 0, 0, 0};
- vec_uint4 retGt01 = spu_cmpgt(p0, p1);
- vec_float4 pmax01 = spu_sel(p1, p0, retGt01);
- vec_int4 imax01 = spu_sel(i1, i0, retGt01);
- vec_uint4 retGt23 = spu_cmpgt(p2, p3);
- vec_float4 pmax23 = spu_sel(p3, p2, retGt23);
- vec_int4 imax23 = spu_sel(i3, i2, retGt23);
- vec_uint4 retGt0123 = spu_cmpgt(pmax01, pmax23);
- vec_float4 pmax0123 = spu_sel(pmax23, pmax01, retGt0123);
- vec_int4 imax0123 = spu_sel(imax23, imax01, retGt0123);
- vec_uint4 retGtMax = spu_cmpgt(v_distMax, pmax0123);
- v_distMax = spu_sel(pmax0123, v_distMax, retGtMax);
- v_idxMax = spu_sel(imax0123, v_idxMax, retGtMax);
- }
- for (; v < (int)numverts; v++)
- {
- vec_float4 p = vec_dot3(points[v].get128(), localDir.get128());
- const vec_int4 i = {v, 0, 0, 0};
- vec_uint4 retGtMax = spu_cmpgt(v_distMax, p);
- v_distMax = spu_sel(p, v_distMax, retGtMax);
- v_idxMax = spu_sel(i, v_idxMax, retGtMax);
- }
- int ptIndex = spu_extract(v_idxMax, 0);
- const btVector3& supVec = points[ptIndex] * localScaling;
- return supVec;
-#else
-
- btScalar maxDot;
- long ptIndex = vec.maxDot(points, numPoints, maxDot);
- btAssert(ptIndex >= 0);
- if (ptIndex < 0)
- {
- ptIndex = 0;
- }
- btVector3 supVec = points[ptIndex] * localScaling;
- return supVec;
-#endif //__SPU__
-}
-
-btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual(const btVector3& localDir) const
-{
- switch (m_shapeType)
- {
- case SPHERE_SHAPE_PROXYTYPE:
- {
- return btVector3(0, 0, 0);
- }
- case BOX_SHAPE_PROXYTYPE:
- {
- btBoxShape* convexShape = (btBoxShape*)this;
- const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
-
-#if defined(__APPLE__) && (defined(BT_USE_SSE) || defined(BT_USE_NEON))
-#if defined(BT_USE_SSE)
- return btVector3(_mm_xor_ps(_mm_and_ps(localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f}), halfExtents.mVec128));
-#elif defined(BT_USE_NEON)
- return btVector3((float32x4_t)(((uint32x4_t)localDir.mVec128 & (uint32x4_t){0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t)halfExtents.mVec128));
-#else
-#error unknown vector arch
-#endif
-#else
- return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
- btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
- btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
-#endif
- }
- case TRIANGLE_SHAPE_PROXYTYPE:
- {
- btTriangleShape* triangleShape = (btTriangleShape*)this;
- btVector3 dir(localDir.getX(), localDir.getY(), localDir.getZ());
- btVector3* vertices = &triangleShape->m_vertices1[0];
- btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
- btVector3 sup = vertices[dots.maxAxis()];
- return btVector3(sup.getX(), sup.getY(), sup.getZ());
- }
- case CYLINDER_SHAPE_PROXYTYPE:
- {
- btCylinderShape* cylShape = (btCylinderShape*)this;
- //mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
-
- btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
- btVector3 v(localDir.getX(), localDir.getY(), localDir.getZ());
- int cylinderUpAxis = cylShape->getUpAxis();
- int XX(1), YY(0), ZZ(2);
-
- switch (cylinderUpAxis)
- {
- case 0:
- {
- XX = 1;
- YY = 0;
- ZZ = 2;
- }
- break;
- case 1:
- {
- XX = 0;
- YY = 1;
- ZZ = 2;
- }
- break;
- case 2:
- {
- XX = 0;
- YY = 2;
- ZZ = 1;
- }
- break;
- default:
- btAssert(0);
- break;
- };
-
- btScalar radius = halfExtents[XX];
- btScalar halfHeight = halfExtents[cylinderUpAxis];
-
- btVector3 tmp;
- btScalar d;
-
- btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
- if (s != btScalar(0.0))
- {
- d = radius / s;
- tmp[XX] = v[XX] * d;
- tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
- tmp[ZZ] = v[ZZ] * d;
- return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
- }
- else
- {
- tmp[XX] = radius;
- tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
- tmp[ZZ] = btScalar(0.0);
- return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
- }
- }
- case CAPSULE_SHAPE_PROXYTYPE:
- {
- btVector3 vec0(localDir.getX(), localDir.getY(), localDir.getZ());
-
- btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
- btScalar halfHeight = capsuleShape->getHalfHeight();
- int capsuleUpAxis = capsuleShape->getUpAxis();
-
- btVector3 supVec(0, 0, 0);
-
- btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
-
- btVector3 vec = vec0;
- btScalar lenSqr = vec.length2();
- if (lenSqr < SIMD_EPSILON * SIMD_EPSILON)
- {
- vec.setValue(1, 0, 0);
- }
- else
- {
- btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
- vec *= rlen;
- }
- btVector3 vtx;
- btScalar newDot;
- {
- btVector3 pos(0, 0, 0);
- pos[capsuleUpAxis] = halfHeight;
-
- vtx = pos;
- newDot = vec.dot(vtx);
-
- if (newDot > maxDot)
- {
- maxDot = newDot;
- supVec = vtx;
- }
- }
- {
- btVector3 pos(0, 0, 0);
- pos[capsuleUpAxis] = -halfHeight;
-
- vtx = pos;
- newDot = vec.dot(vtx);
- if (newDot > maxDot)
- {
- maxDot = newDot;
- supVec = vtx;
- }
- }
- return btVector3(supVec.getX(), supVec.getY(), supVec.getZ());
- }
- case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
- {
- btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
- btVector3* points = convexPointCloudShape->getUnscaledPoints();
- int numPoints = convexPointCloudShape->getNumPoints();
- return convexHullSupport(localDir, points, numPoints, convexPointCloudShape->getLocalScalingNV());
- }
- case CONVEX_HULL_SHAPE_PROXYTYPE:
- {
- btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
- btVector3* points = convexHullShape->getUnscaledPoints();
- int numPoints = convexHullShape->getNumPoints();
- return convexHullSupport(localDir, points, numPoints, convexHullShape->getLocalScalingNV());
- }
- default:
-#ifndef __SPU__
- return this->localGetSupportingVertexWithoutMargin(localDir);
-#else
- btAssert(0);
-#endif
- }
-
- // should never reach here
- btAssert(0);
- return btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
-}
-
-btVector3 btConvexShape::localGetSupportVertexNonVirtual(const btVector3& localDir) const
-{
- btVector3 localDirNorm = localDir;
- if (localDirNorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
- {
- localDirNorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
- }
- localDirNorm.normalize();
-
- return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm) + getMarginNonVirtual() * localDirNorm;
-}
-
-/* TODO: This should be bumped up to btCollisionShape () */
-btScalar btConvexShape::getMarginNonVirtual() const
-{
- switch (m_shapeType)
- {
- case SPHERE_SHAPE_PROXYTYPE:
- {
- btSphereShape* sphereShape = (btSphereShape*)this;
- return sphereShape->getRadius();
- }
- case BOX_SHAPE_PROXYTYPE:
- {
- btBoxShape* convexShape = (btBoxShape*)this;
- return convexShape->getMarginNV();
- }
- case TRIANGLE_SHAPE_PROXYTYPE:
- {
- btTriangleShape* triangleShape = (btTriangleShape*)this;
- return triangleShape->getMarginNV();
- }
- case CYLINDER_SHAPE_PROXYTYPE:
- {
- btCylinderShape* cylShape = (btCylinderShape*)this;
- return cylShape->getMarginNV();
- }
- case CONE_SHAPE_PROXYTYPE:
- {
- btConeShape* conShape = (btConeShape*)this;
- return conShape->getMarginNV();
- }
- case CAPSULE_SHAPE_PROXYTYPE:
- {
- btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
- return capsuleShape->getMarginNV();
- }
- case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
- /* fall through */
- case CONVEX_HULL_SHAPE_PROXYTYPE:
- {
- btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
- return convexHullShape->getMarginNV();
- }
- default:
-#ifndef __SPU__
- return this->getMargin();
-#else
- btAssert(0);
-#endif
- }
-
- // should never reach here
- btAssert(0);
- return btScalar(0.0f);
-}
-#ifndef __SPU__
-void btConvexShape::getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
- switch (m_shapeType)
- {
- case SPHERE_SHAPE_PROXYTYPE:
- {
- btSphereShape* sphereShape = (btSphereShape*)this;
- btScalar radius = sphereShape->getImplicitShapeDimensions().getX(); // * convexShape->getLocalScaling().getX();
- btScalar margin = radius + sphereShape->getMarginNonVirtual();
- const btVector3& center = t.getOrigin();
- btVector3 extent(margin, margin, margin);
- aabbMin = center - extent;
- aabbMax = center + extent;
- }
- break;
- case CYLINDER_SHAPE_PROXYTYPE:
- /* fall through */
- case BOX_SHAPE_PROXYTYPE:
- {
- btBoxShape* convexShape = (btBoxShape*)this;
- btScalar margin = convexShape->getMarginNonVirtual();
- btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
- halfExtents += btVector3(margin, margin, margin);
- btMatrix3x3 abs_b = t.getBasis().absolute();
- btVector3 center = t.getOrigin();
- btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
-
- aabbMin = center - extent;
- aabbMax = center + extent;
- break;
- }
- case TRIANGLE_SHAPE_PROXYTYPE:
- {
- btTriangleShape* triangleShape = (btTriangleShape*)this;
- btScalar margin = triangleShape->getMarginNonVirtual();
- for (int i = 0; i < 3; i++)
- {
- btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
- vec[i] = btScalar(1.);
-
- btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis());
-
- btVector3 tmp = t(sv);
- aabbMax[i] = tmp[i] + margin;
- vec[i] = btScalar(-1.);
- tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis()));
- aabbMin[i] = tmp[i] - margin;
- }
- }
- break;
- case CAPSULE_SHAPE_PROXYTYPE:
- {
- btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
- btVector3 halfExtents(capsuleShape->getRadius(), capsuleShape->getRadius(), capsuleShape->getRadius());
- int m_upAxis = capsuleShape->getUpAxis();
- halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
- btMatrix3x3 abs_b = t.getBasis().absolute();
- btVector3 center = t.getOrigin();
- btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
- aabbMin = center - extent;
- aabbMax = center + extent;
- }
- break;
- case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
- case CONVEX_HULL_SHAPE_PROXYTYPE:
- {
- btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
- btScalar margin = convexHullShape->getMarginNonVirtual();
- convexHullShape->getNonvirtualAabb(t, aabbMin, aabbMax, margin);
- }
- break;
- default:
-#ifndef __SPU__
- this->getAabb(t, aabbMin, aabbMax);
-#else
- btAssert(0);
-#endif
- break;
- }
-
- // should never reach here
- btAssert(0);
-}
-
-#endif //__SPU__
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