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diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
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--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
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-/*
-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.
-*/
-
-#include "btCylinderShape.h"
-
-btCylinderShape::btCylinderShape(const btVector3& halfExtents)
- : btConvexInternalShape(),
- m_upAxis(1)
-{
- btVector3 margin(getMargin(), getMargin(), getMargin());
- m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
-
- setSafeMargin(halfExtents);
-
- m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
-}
-
-btCylinderShapeX::btCylinderShapeX(const btVector3& halfExtents)
- : btCylinderShape(halfExtents)
-{
- m_upAxis = 0;
-}
-
-btCylinderShapeZ::btCylinderShapeZ(const btVector3& halfExtents)
- : btCylinderShape(halfExtents)
-{
- m_upAxis = 2;
-}
-
-void btCylinderShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
- btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
-}
-
-void btCylinderShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
-{
-//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
-//#define USE_BOX_INERTIA_APPROXIMATION 1
-#ifndef USE_BOX_INERTIA_APPROXIMATION
-
- /*
- cylinder is defined as following:
- *
- * - principle axis aligned along y by default, radius in x, z-value not used
- * - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
- * - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
- *
- */
-
- btScalar radius2; // square of cylinder radius
- btScalar height2; // square of cylinder height
- btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension
- btScalar div12 = mass / 12.f;
- btScalar div4 = mass / 4.f;
- btScalar div2 = mass / 2.f;
- int idxRadius, idxHeight;
-
- switch (m_upAxis) // get indices of radius and height of cylinder
- {
- case 0: // cylinder is aligned along x
- idxRadius = 1;
- idxHeight = 0;
- break;
- case 2: // cylinder is aligned along z
- idxRadius = 0;
- idxHeight = 2;
- break;
- default: // cylinder is aligned along y
- idxRadius = 0;
- idxHeight = 1;
- }
-
- // calculate squares
- radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
- height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
-
- // calculate tensor terms
- btScalar t1 = div12 * height2 + div4 * radius2;
- btScalar t2 = div2 * radius2;
-
- switch (m_upAxis) // set diagonal elements of inertia tensor
- {
- case 0: // cylinder is aligned along x
- inertia.setValue(t2, t1, t1);
- break;
- case 2: // cylinder is aligned along z
- inertia.setValue(t1, t1, t2);
- break;
- default: // cylinder is aligned along y
- inertia.setValue(t1, t2, t1);
- }
-#else //USE_BOX_INERTIA_APPROXIMATION
- //approximation of box shape
- btVector3 halfExtents = getHalfExtentsWithMargin();
-
- btScalar lx = btScalar(2.) * (halfExtents.x());
- btScalar ly = btScalar(2.) * (halfExtents.y());
- btScalar lz = btScalar(2.) * (halfExtents.z());
-
- inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
- mass / (btScalar(12.0)) * (lx * lx + lz * lz),
- mass / (btScalar(12.0)) * (lx * lx + ly * ly));
-#endif //USE_BOX_INERTIA_APPROXIMATION
-}
-
-SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents, const btVector3& v)
-{
- const int cylinderUpAxis = 0;
- const int XX = 1;
- const int YY = 0;
- const int ZZ = 2;
-
- //mapping depends on how cylinder local orientation is
- // extents of the cylinder is: X,Y is for radius, and Z for height
-
- 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 tmp;
- }
- else
- {
- tmp[XX] = radius;
- tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
- tmp[ZZ] = btScalar(0.0);
- return tmp;
- }
-}
-
-inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents, const btVector3& v)
-{
- const int cylinderUpAxis = 1;
- const int XX = 0;
- const int YY = 1;
- const int ZZ = 2;
-
- 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 tmp;
- }
- else
- {
- tmp[XX] = radius;
- tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
- tmp[ZZ] = btScalar(0.0);
- return tmp;
- }
-}
-
-inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents, const btVector3& v)
-{
- const int cylinderUpAxis = 2;
- const int XX = 0;
- const int YY = 2;
- const int ZZ = 1;
-
- //mapping depends on how cylinder local orientation is
- // extents of the cylinder is: X,Y is for radius, and Z for height
-
- 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 tmp;
- }
- else
- {
- tmp[XX] = radius;
- tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
- tmp[ZZ] = btScalar(0.0);
- return tmp;
- }
-}
-
-btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
- return CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vec);
-}
-
-btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
- return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vec);
-}
-btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
-{
- return CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vec);
-}
-
-void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
- for (int i = 0; i < numVectors; i++)
- {
- supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vectors[i]);
- }
-}
-
-void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
- for (int i = 0; i < numVectors; i++)
- {
- supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vectors[i]);
- }
-}
-
-void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
-{
- for (int i = 0; i < numVectors; i++)
- {
- supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vectors[i]);
- }
-}