diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h | 131 |
1 files changed, 59 insertions, 72 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h index a214a827c9..d3f64508ba 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h @@ -17,90 +17,84 @@ subject to the following restrictions: #define BT_CYLINDER_MINKOWSKI_H #include "btBoxShape.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types #include "LinearMath/btVector3.h" /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. -ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) +btCylinderShape : public btConvexInternalShape { - protected: - - int m_upAxis; + int m_upAxis; public: - -BT_DECLARE_ALIGNED_ALLOCATOR(); + BT_DECLARE_ALIGNED_ALLOCATOR(); btVector3 getHalfExtentsWithMargin() const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); - btVector3 margin(getMargin(),getMargin(),getMargin()); + btVector3 margin(getMargin(), getMargin(), getMargin()); halfExtents += margin; return halfExtents; } - + const btVector3& getHalfExtentsWithoutMargin() const { - return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included + return m_implicitShapeDimensions; //changed in Bullet 2.63: assume the scaling and margin are included } - btCylinderShape (const btVector3& halfExtents); - - void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + btCylinderShape(const btVector3& halfExtents); + + void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; virtual void setMargin(btScalar collisionMargin) { //correct the m_implicitShapeDimensions for the margin - btVector3 oldMargin(getMargin(),getMargin(),getMargin()); - btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; - + btVector3 oldMargin(getMargin(), getMargin(), getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin; + btConvexInternalShape::setMargin(collisionMargin); - btVector3 newMargin(getMargin(),getMargin(),getMargin()); + btVector3 newMargin(getMargin(), getMargin(), getMargin()); m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; - } - virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const { - btVector3 supVertex; supVertex = localGetSupportingVertexWithoutMargin(vec); - - if ( getMargin()!=btScalar(0.) ) + + if (getMargin() != btScalar(0.)) { btVector3 vecnorm = vec; - if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON)) { - vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); - } + vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.)); + } vecnorm.normalize(); - supVertex+= getMargin() * vecnorm; + supVertex += getMargin() * vecnorm; } return supVertex; } - //use box inertia // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - int getUpAxis() const + int getUpAxis() const { return m_upAxis; } - virtual btVector3 getAnisotropicRollingFrictionDirection() const + virtual btVector3 getAnisotropicRollingFrictionDirection() const { - btVector3 aniDir(0,0,0); - aniDir[getUpAxis()]=1; + btVector3 aniDir(0, 0, 0); + aniDir[getUpAxis()] = 1; return aniDir; } @@ -109,43 +103,41 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); return getHalfExtentsWithMargin().getX(); } - virtual void setLocalScaling(const btVector3& scaling) + virtual void setLocalScaling(const btVector3& scaling) { - btVector3 oldMargin(getMargin(),getMargin(),getMargin()); - btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + btVector3 oldMargin(getMargin(), getMargin(), getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin; btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; btConvexInternalShape::setLocalScaling(scaling); m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; - } //debugging - virtual const char* getName()const + virtual const char* getName() const { return "CylinderY"; } - 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; }; class btCylinderShapeX : public btCylinderShape { public: BT_DECLARE_ALIGNED_ALLOCATOR(); - - btCylinderShapeX (const btVector3& halfExtents); - - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - - //debugging - virtual const char* getName()const + + btCylinderShapeX(const btVector3& halfExtents); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; + + //debugging + virtual const char* getName() const { return "CylinderX"; } @@ -154,21 +146,20 @@ public: { return getHalfExtentsWithMargin().getY(); } - }; class btCylinderShapeZ : public btCylinderShape { public: BT_DECLARE_ALIGNED_ALLOCATOR(); - - btCylinderShapeZ (const btVector3& halfExtents); - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + btCylinderShapeZ(const btVector3& halfExtents); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; - //debugging - virtual const char* getName()const + //debugging + virtual const char* getName() const { return "CylinderZ"; } @@ -177,30 +168,29 @@ public: { return getHalfExtentsWithMargin().getX(); } - }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btCylinderShapeData +struct btCylinderShapeData { - btConvexInternalShapeData m_convexInternalShapeData; + btConvexInternalShapeData m_convexInternalShapeData; - int m_upAxis; + int m_upAxis; - char m_padding[4]; + char m_padding[4]; }; -SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const { return sizeof(btCylinderShapeData); } - ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const { - btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer; + btCylinderShapeData* shapeData = (btCylinderShapeData*)dataBuffer; - btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); shapeData->m_upAxis = m_upAxis; @@ -213,7 +203,4 @@ SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSer return "btCylinderShapeData"; } - - -#endif //BT_CYLINDER_MINKOWSKI_H - +#endif //BT_CYLINDER_MINKOWSKI_H |