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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp203
1 files changed, 87 insertions, 116 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
index 604b3fc770..66dbb8e53d 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
@@ -15,11 +15,11 @@ subject to the following restrictions:
#include "btCylinderShape.h"
-btCylinderShape::btCylinderShape (const btVector3& halfExtents)
-:btConvexInternalShape(),
-m_upAxis(1)
+btCylinderShape::btCylinderShape(const btVector3& halfExtents)
+ : btConvexInternalShape(),
+ m_upAxis(1)
{
- btVector3 margin(getMargin(),getMargin(),getMargin());
+ btVector3 margin(getMargin(), getMargin(), getMargin());
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
setSafeMargin(halfExtents);
@@ -27,30 +27,25 @@ m_upAxis(1)
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
}
-
-btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
-:btCylinderShape(halfExtents)
+btCylinderShapeX::btCylinderShapeX(const btVector3& halfExtents)
+ : btCylinderShape(halfExtents)
{
m_upAxis = 0;
-
}
-
-btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
-:btCylinderShape(halfExtents)
+btCylinderShapeZ::btCylinderShapeZ(const btVector3& halfExtents)
+ : btCylinderShape(halfExtents)
{
m_upAxis = 2;
-
}
-void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btCylinderShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
- btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+ btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
}
-void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+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
@@ -64,25 +59,25 @@ void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
*
*/
- btScalar radius2; // square of cylinder radius
- btScalar height2; // square of cylinder height
- btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension
+ 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
+ switch (m_upAxis) // get indices of radius and height of cylinder
{
- case 0: // cylinder is aligned along x
+ case 0: // cylinder is aligned along x
idxRadius = 1;
idxHeight = 0;
break;
- case 2: // cylinder is aligned along z
+ case 2: // cylinder is aligned along z
idxRadius = 0;
idxHeight = 2;
break;
- default: // cylinder is aligned along y
+ default: // cylinder is aligned along y
idxRadius = 0;
idxHeight = 1;
}
@@ -95,188 +90,164 @@ void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
btScalar t1 = div12 * height2 + div4 * radius2;
btScalar t2 = div2 * radius2;
- switch (m_upAxis) // set diagonal elements of inertia tensor
+ switch (m_upAxis) // set diagonal elements of inertia tensor
{
- case 0: // cylinder is aligned along x
- inertia.setValue(t2,t1,t1);
+ 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);
+ case 2: // cylinder is aligned along z
+ inertia.setValue(t1, t1, t2);
break;
- default: // cylinder is aligned along y
- inertia.setValue(t1,t2,t1);
+ default: // cylinder is aligned along y
+ inertia.setValue(t1, t2, t1);
}
-#else //USE_BOX_INERTIA_APPROXIMATION
+#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());
+ 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
+ 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)
+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;
+ 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;
- btVector3 tmp;
- btScalar d ;
-
- btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
- if (s != btScalar(0.0))
+ btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+ if (s != btScalar(0.0))
{
- d = radius / s;
+ d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
- else
+ else
{
- tmp[XX] = radius;
+ 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)
+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;
-
+ 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;
- btVector3 tmp;
- btScalar d ;
-
- btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
- if (s != btScalar(0.0))
+ btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+ if (s != btScalar(0.0))
{
- d = radius / s;
+ d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
- else
+ else
{
- tmp[XX] = radius;
+ 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)
+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;
+ 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;
- btVector3 tmp;
- btScalar d ;
-
- btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
- if (s != btScalar(0.0))
+ btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+ if (s != btScalar(0.0))
{
- d = radius / s;
+ d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
- else
+ else
{
- tmp[XX] = radius;
+ 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
+btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
- return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
+ return CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vec);
}
-
-btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
- return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
+ return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vec);
}
-btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
- return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
+ return CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vec);
}
-void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
- for (int i=0;i<numVectors;i++)
+ for (int i = 0; i < numVectors; i++)
{
- supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
+ supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vectors[i]);
}
}
-void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
- for (int i=0;i<numVectors;i++)
+ for (int i = 0; i < numVectors; i++)
{
- supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
+ supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vectors[i]);
}
}
-
-
-
-void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
- for (int i=0;i<numVectors;i++)
+ for (int i = 0; i < numVectors; i++)
{
- supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
+ supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vectors[i]);
}
}
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-08 01:07:56 +0000