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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h122
1 files changed, 56 insertions, 66 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
index 6427589590..8ee35ef5fa 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
@@ -16,11 +16,9 @@ subject to the following restrictions:
#ifndef _BT_TRIANGLE_INFO_MAP_H
#define _BT_TRIANGLE_INFO_MAP_H
-
#include "LinearMath/btHashMap.h"
#include "LinearMath/btSerializer.h"
-
///for btTriangleInfo m_flags
#define TRI_INFO_V0V1_CONVEX 1
#define TRI_INFO_V1V2_CONVEX 2
@@ -30,61 +28,58 @@ subject to the following restrictions:
#define TRI_INFO_V1V2_SWAP_NORMALB 16
#define TRI_INFO_V2V0_SWAP_NORMALB 32
-
///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
-///it can be generated using
-struct btTriangleInfo
+///it can be generated using
+struct btTriangleInfo
{
btTriangleInfo()
{
m_edgeV0V1Angle = SIMD_2_PI;
m_edgeV1V2Angle = SIMD_2_PI;
m_edgeV2V0Angle = SIMD_2_PI;
- m_flags=0;
+ m_flags = 0;
}
- int m_flags;
-
- btScalar m_edgeV0V1Angle;
- btScalar m_edgeV1V2Angle;
- btScalar m_edgeV2V0Angle;
+ int m_flags;
+ btScalar m_edgeV0V1Angle;
+ btScalar m_edgeV1V2Angle;
+ btScalar m_edgeV2V0Angle;
};
-typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
-
+typedef btHashMap<btHashInt, btTriangleInfo> btInternalTriangleInfoMap;
///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
-struct btTriangleInfoMap : public btInternalTriangleInfoMap
+struct btTriangleInfoMap : public btInternalTriangleInfoMap
{
- btScalar m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product
- btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
- btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
- btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
- btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
- btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
-
-
+ btScalar m_convexEpsilon; ///used to determine if an edge or contact normal is convex, using the dot product
+ btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
+ btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
+ btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
+ btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
+ btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
+
btTriangleInfoMap()
{
m_convexEpsilon = 0.00f;
m_planarEpsilon = 0.0001f;
- m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
+ m_equalVertexThreshold = btScalar(0.0001) * btScalar(0.0001);
m_edgeDistanceThreshold = btScalar(0.1);
- m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
+ m_zeroAreaThreshold = btScalar(0.0001) * btScalar(0.0001);
m_maxEdgeAngleThreshold = SIMD_2_PI;
}
virtual ~btTriangleInfoMap() {}
- 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;
-
- void deSerialize(struct btTriangleInfoMapData& data);
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+ void deSerialize(struct btTriangleInfoMapData& data);
};
+// clang-format off
+
///those fields have to be float and not btScalar for the serialization to work properly
struct btTriangleInfoData
{
@@ -114,86 +109,86 @@ struct btTriangleInfoMapData
char m_padding[4];
};
-SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
+// clang-format on
+
+SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
{
return sizeof(btTriangleInfoMapData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
+SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
{
- btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
+ btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*)dataBuffer;
tmapData->m_convexEpsilon = (float)m_convexEpsilon;
tmapData->m_planarEpsilon = (float)m_planarEpsilon;
- tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
+ tmapData->m_equalVertexThreshold = (float)m_equalVertexThreshold;
tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
-
+
tmapData->m_hashTableSize = m_hashTable.size();
tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
if (tmapData->m_hashTablePtr)
- {
+ {
//serialize an int buffer
int sz = sizeof(int);
int numElem = tmapData->m_hashTableSize;
- btChunk* chunk = serializer->allocate(sz,numElem);
+ btChunk* chunk = serializer->allocate(sz, numElem);
int* memPtr = (int*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
*memPtr = m_hashTable[i];
}
- serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]);
-
+ serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_hashTable[0]);
}
tmapData->m_nextSize = m_next.size();
- tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0;
+ tmapData->m_nextPtr = tmapData->m_nextSize ? (int*)serializer->getUniquePointer((void*)&m_next[0]) : 0;
if (tmapData->m_nextPtr)
{
int sz = sizeof(int);
int numElem = tmapData->m_nextSize;
- btChunk* chunk = serializer->allocate(sz,numElem);
+ btChunk* chunk = serializer->allocate(sz, numElem);
int* memPtr = (int*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
*memPtr = m_next[i];
}
- serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]);
+ serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_next[0]);
}
-
+
tmapData->m_numValues = m_valueArray.size();
- tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0;
+ tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]) : 0;
if (tmapData->m_valueArrayPtr)
{
int sz = sizeof(btTriangleInfoData);
int numElem = tmapData->m_numValues;
- btChunk* chunk = serializer->allocate(sz,numElem);
+ btChunk* chunk = serializer->allocate(sz, numElem);
btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
memPtr->m_flags = m_valueArray[i].m_flags;
}
- serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
+ serializer->finalizeChunk(chunk, "btTriangleInfoData", BT_ARRAY_CODE, (void*)&m_valueArray[0]);
}
-
+
tmapData->m_numKeys = m_keyArray.size();
tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
if (tmapData->m_keyArrayPtr)
{
int sz = sizeof(int);
int numElem = tmapData->m_numValues;
- btChunk* chunk = serializer->allocate(sz,numElem);
+ btChunk* chunk = serializer->allocate(sz, numElem);
int* memPtr = (int*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
*memPtr = m_keyArray[i].getUid1();
}
- serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]);
-
+ serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_keyArray[0]);
}
// Fill padding with zeros to appease msan.
@@ -205,44 +200,39 @@ SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btS
return "btTriangleInfoMapData";
}
-
-
///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData )
+SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData)
{
-
-
m_convexEpsilon = tmapData.m_convexEpsilon;
m_planarEpsilon = tmapData.m_planarEpsilon;
m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
m_hashTable.resize(tmapData.m_hashTableSize);
- int i =0;
- for (i=0;i<tmapData.m_hashTableSize;i++)
+ int i = 0;
+ for (i = 0; i < tmapData.m_hashTableSize; i++)
{
m_hashTable[i] = tmapData.m_hashTablePtr[i];
}
m_next.resize(tmapData.m_nextSize);
- for (i=0;i<tmapData.m_nextSize;i++)
+ for (i = 0; i < tmapData.m_nextSize; i++)
{
m_next[i] = tmapData.m_nextPtr[i];
}
m_valueArray.resize(tmapData.m_numValues);
- for (i=0;i<tmapData.m_numValues;i++)
+ for (i = 0; i < tmapData.m_numValues; i++)
{
m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
}
-
- m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
- for (i=0;i<tmapData.m_numKeys;i++)
+
+ m_keyArray.resize(tmapData.m_numKeys, btHashInt(0));
+ for (i = 0; i < tmapData.m_numKeys; i++)
{
m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
}
}
-
-#endif //_BT_TRIANGLE_INFO_MAP_H
+#endif //_BT_TRIANGLE_INFO_MAP_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 12:44:44 +0000