diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision')
16 files changed, 227 insertions, 155 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp index 37156fd589..166cb04c0b 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp @@ -37,7 +37,7 @@ static DBVT_INLINE int indexof(const btDbvtNode* node) static DBVT_INLINE btDbvtVolume merge(const btDbvtVolume& a, const btDbvtVolume& b) { -#if (DBVT_MERGE_IMPL == DBVT_IMPL_SSE) +#ifdef BT_USE_SSE ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]); btDbvtVolume* ptr = (btDbvtVolume*)locals; btDbvtVolume& res = *ptr; @@ -80,6 +80,7 @@ static DBVT_INLINE void deletenode(btDbvt* pdbvt, static void recursedeletenode(btDbvt* pdbvt, btDbvtNode* node) { + if (node == 0) return; if (!node->isleaf()) { recursedeletenode(pdbvt, node->childs[0]); @@ -298,7 +299,7 @@ static int split(btDbvtNode** leaves, static btDbvtVolume bounds(btDbvtNode** leaves, int count) { -#if DBVT_MERGE_IMPL == DBVT_IMPL_SSE +#ifdef BT_USE_SSE ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]); btDbvtVolume* ptr = (btDbvtVolume*)locals; btDbvtVolume& volume = *ptr; diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp index 166cf771fe..b7fe0a1f34 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp @@ -123,11 +123,11 @@ protected: void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher) { + m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher); + btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg); freeHandle(proxy0); - m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher); - //validate(); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp index 98a02d0c45..b48d9301d7 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -43,6 +43,7 @@ btCollisionObject::btCollisionObject() m_userObjectPointer(0), m_userIndex2(-1), m_userIndex(-1), + m_userIndex3(-1), m_hitFraction(btScalar(1.)), m_ccdSweptSphereRadius(btScalar(0.)), m_ccdMotionThreshold(btScalar(0.)), diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h index 56b3d89e56..85dc488c8c 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -101,6 +101,8 @@ protected: int m_userIndex; + int m_userIndex3; + ///time of impact calculation btScalar m_hitFraction; @@ -526,6 +528,11 @@ public: return m_userIndex2; } + int getUserIndex3() const + { + return m_userIndex3; + } + ///users can point to their objects, userPointer is not used by Bullet void setUserPointer(void* userPointer) { @@ -543,6 +550,11 @@ public: m_userIndex2 = index; } + void setUserIndex3(int index) + { + m_userIndex3 = index; + } + int getUpdateRevisionInternal() const { return m_updateRevision; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index b30ce03164..71184f36ac 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -19,10 +19,10 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" @@ -414,7 +414,9 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co rcb.m_hitFraction = resultCallback.m_closestHitFraction; triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled); } - else if (collisionShape->getShapeType()==TERRAIN_SHAPE_PROXYTYPE) + else if (((resultCallback.m_flags&btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator)==0) + && collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE + ) { ///optimized version for btHeightfieldTerrainShape btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape; @@ -422,7 +424,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); - BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),heightField,colObjWorldTransform); + BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform); rcb.m_hitFraction = resultCallback.m_closestHitFraction; heightField->performRaycast(&rcb, rayFromLocal, rayToLocal); } diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp index 65b669e1c0..9694f4ddb3 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp @@ -27,7 +27,7 @@ btConvexPolyhedron::~btConvexPolyhedron() { } -inline bool IsAlmostZero(const btVector3& v) +inline bool IsAlmostZero1(const btVector3& v) { if (btFabs(v.x()) > 1e-6 || btFabs(v.y()) > 1e-6 || btFabs(v.z()) > 1e-6) return false; return true; @@ -122,8 +122,8 @@ void btConvexPolyhedron::initialize() for (int p = 0; p < m_uniqueEdges.size(); p++) { - if (IsAlmostZero(m_uniqueEdges[p] - edge) || - IsAlmostZero(m_uniqueEdges[p] + edge)) + if (IsAlmostZero1(m_uniqueEdges[p] - edge) || + IsAlmostZero1(m_uniqueEdges[p] + edge)) { found = true; break; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 4adf27e6bb..34ec2d8c45 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -71,9 +71,10 @@ void btHeightfieldTerrainShape::initialize( m_flipQuadEdges = flipQuadEdges; m_useDiamondSubdivision = false; m_useZigzagSubdivision = false; + m_flipTriangleWinding = false; m_upAxis = upAxis; m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.)); - m_vboundsGrid = NULL; + m_vboundsChunkSize = 0; m_vboundsGridWidth = 0; m_vboundsGridLength = 0; @@ -335,30 +336,37 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback for (int x = startX; x < endX; x++) { btVector3 vertices[3]; + int indices[3] = { 0, 1, 2 }; + if (m_flipTriangleWinding) + { + indices[0] = 2; + indices[2] = 0; + } + if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j + x) & 1)) || (m_useZigzagSubdivision && !(j & 1))) { //first triangle - getVertex(x, j, vertices[0]); - getVertex(x, j + 1, vertices[1]); - getVertex(x + 1, j + 1, vertices[2]); + getVertex(x, j, vertices[indices[0]]); + getVertex(x, j + 1, vertices[indices[1]]); + getVertex(x + 1, j + 1, vertices[indices[2]]); callback->processTriangle(vertices, x, j); //second triangle // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman - getVertex(x + 1, j + 1, vertices[1]); - getVertex(x + 1, j, vertices[2]); + getVertex(x + 1, j + 1, vertices[indices[1]]); + getVertex(x + 1, j, vertices[indices[2]]); callback->processTriangle(vertices, x, j); } else { //first triangle - getVertex(x, j, vertices[0]); - getVertex(x, j + 1, vertices[1]); - getVertex(x + 1, j, vertices[2]); + getVertex(x, j, vertices[indices[0]]); + getVertex(x, j + 1, vertices[indices[1]]); + getVertex(x + 1, j, vertices[indices[2]]); callback->processTriangle(vertices, x, j); //second triangle - getVertex(x + 1, j, vertices[0]); + getVertex(x + 1, j, vertices[indices[0]]); //getVertex(x,j+1,vertices[1]); - getVertex(x + 1, j + 1, vertices[2]); + getVertex(x + 1, j + 1, vertices[indices[2]]); callback->processTriangle(vertices, x, j); } } @@ -381,39 +389,42 @@ const btVector3& btHeightfieldTerrainShape::getLocalScaling() const return m_localScaling; } - - -struct GridRaycastState +namespace { - int x; // Next quad coords - int z; - int prev_x; // Previous quad coords - int prev_z; - btScalar param; // Exit param for previous quad - btScalar prevParam; // Enter param for previous quad - btScalar maxDistanceFlat; - btScalar maxDistance3d; -}; - + struct GridRaycastState + { + int x; // Next quad coords + int z; + int prev_x; // Previous quad coords + int prev_z; + btScalar param; // Exit param for previous quad + btScalar prevParam; // Enter param for previous quad + btScalar maxDistanceFlat; + btScalar maxDistance3d; + }; +} // TODO Does it really need to take 3D vectors? /// Iterates through a virtual 2D grid of unit-sized square cells, /// and executes an action on each cell intersecting the given segment, ordered from begin to end. /// Initially inspired by http://www.cse.yorku.ca/~amana/research/grid.pdf template <typename Action_T> -void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector3 &endPos) +void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector3& endPos, int indices[3]) { GridRaycastState rs; rs.maxDistance3d = beginPos.distance(endPos); if (rs.maxDistance3d < 0.0001) + { // Consider the ray is too small to hit anything return; + } + - btScalar rayDirectionFlatX = endPos[0] - beginPos[0]; - btScalar rayDirectionFlatZ = endPos[2] - beginPos[2]; + btScalar rayDirectionFlatX = endPos[indices[0]] - beginPos[indices[0]]; + btScalar rayDirectionFlatZ = endPos[indices[2]] - beginPos[indices[2]]; rs.maxDistanceFlat = btSqrt(rayDirectionFlatX * rayDirectionFlatX + rayDirectionFlatZ * rayDirectionFlatZ); - if(rs.maxDistanceFlat < 0.0001) + if (rs.maxDistanceFlat < 0.0001) { // Consider the ray vertical rayDirectionFlatX = 0; @@ -433,34 +444,46 @@ void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector const btScalar paramDeltaZ = ziStep != 0 ? 1.f / btFabs(rayDirectionFlatZ) : infinite; // pos = param * dir - btScalar paramCrossX; // At which value of `param` we will cross a x-axis lane? - btScalar paramCrossZ; // At which value of `param` we will cross a z-axis lane? + btScalar paramCrossX; // At which value of `param` we will cross a x-axis lane? + btScalar paramCrossZ; // At which value of `param` we will cross a z-axis lane? // paramCrossX and paramCrossZ are initialized as being the first cross // X initialization if (xiStep != 0) { if (xiStep == 1) - paramCrossX = (ceil(beginPos[0]) - beginPos[0]) * paramDeltaX; + { + paramCrossX = (ceil(beginPos[indices[0]]) - beginPos[indices[0]]) * paramDeltaX; + } else - paramCrossX = (beginPos[0] - floor(beginPos[0])) * paramDeltaX; + { + paramCrossX = (beginPos[indices[0]] - floor(beginPos[indices[0]])) * paramDeltaX; + } } else - paramCrossX = infinite; // Will never cross on X + { + paramCrossX = infinite; // Will never cross on X + } // Z initialization if (ziStep != 0) { if (ziStep == 1) - paramCrossZ = (ceil(beginPos[2]) - beginPos[2]) * paramDeltaZ; + { + paramCrossZ = (ceil(beginPos[indices[2]]) - beginPos[indices[2]]) * paramDeltaZ; + } else - paramCrossZ = (beginPos[2] - floor(beginPos[2])) * paramDeltaZ; + { + paramCrossZ = (beginPos[indices[2]] - floor(beginPos[indices[2]])) * paramDeltaZ; + } } else - paramCrossZ = infinite; // Will never cross on Z + { + paramCrossZ = infinite; // Will never cross on Z + } - rs.x = static_cast<int>(floor(beginPos[0])); - rs.z = static_cast<int>(floor(beginPos[2])); + rs.x = static_cast<int>(floor(beginPos[indices[0]])); + rs.z = static_cast<int>(floor(beginPos[indices[2]])); // Workaround cases where the ray starts at an integer position if (paramCrossX == 0.0) @@ -469,7 +492,9 @@ void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector // If going backwards, we should ignore the position we would get by the above flooring, // because the ray is not heading in that direction if (xiStep == -1) + { rs.x -= 1; + } } if (paramCrossZ == 0.0) @@ -513,14 +538,15 @@ void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector break; } else + { quadAction(rs); + } } } - struct ProcessTrianglesAction { - const btHeightfieldTerrainShape *shape; + const btHeightfieldTerrainShape* shape; bool flipQuadEdges; bool useDiamondSubdivision; int width; @@ -529,11 +555,15 @@ struct ProcessTrianglesAction void exec(int x, int z) const { - if(x < 0 || z < 0 || x >= width || z >= length) + if (x < 0 || z < 0 || x >= width || z >= length) + { return; + } btVector3 vertices[3]; + // TODO Since this is for raycasts, we could greatly benefit from an early exit on the first hit + // Check quad if (flipQuadEdges || (useDiamondSubdivision && (((z + x) & 1) > 0))) { @@ -565,16 +595,15 @@ struct ProcessTrianglesAction } } - void operator ()(const GridRaycastState &bs) const + void operator()(const GridRaycastState& bs) const { exec(bs.prev_x, bs.prev_z); } }; - struct ProcessVBoundsAction { - const btHeightfieldTerrainShape::Range *vbounds; + const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& vbounds; int width; int length; int chunkSize; @@ -583,15 +612,23 @@ struct ProcessVBoundsAction btVector3 rayEnd; btVector3 rayDir; + int* m_indices; ProcessTrianglesAction processTriangles; - void operator ()(const GridRaycastState &rs) const + ProcessVBoundsAction(const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& bnd, int* indices) + : vbounds(bnd), + m_indices(indices) + { + } + void operator()(const GridRaycastState& rs) const { int x = rs.prev_x; int z = rs.prev_z; - if(x < 0 || z < 0 || x >= width || z >= length) + if (x < 0 || z < 0 || x >= width || z >= length) + { return; + } const btHeightfieldTerrainShape::Range chunk = vbounds[x + z * width]; @@ -608,10 +645,14 @@ struct ProcessVBoundsAction // We did enter the flat projection of the AABB, // but we have to check if we intersect it on the vertical axis - if (enterPos[1] > chunk.max && exitPos[1] > chunk.max) + if (enterPos[1] > chunk.max && exitPos[m_indices[1]] > chunk.max) + { return; - if (enterPos[1] < chunk.min && exitPos[1] < chunk.min) + } + if (enterPos[1] < chunk.min && exitPos[m_indices[1]] < chunk.min) + { return; + } } else { @@ -621,13 +662,12 @@ struct ProcessVBoundsAction exitPos = rayEnd; } - gridRaycast(processTriangles, enterPos, exitPos); + gridRaycast(processTriangles, enterPos, exitPos, m_indices); // Note: it could be possible to have more than one grid at different levels, // to do this there would be a branch using a pointer to another ProcessVBoundsAction } }; - // TODO How do I interrupt the ray when there is a hit? `callback` does not return any result /// Performs a raycast using a hierarchical Bresenham algorithm. /// Does not allocate any memory by itself. @@ -648,10 +688,16 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con processTriangles.length = m_heightStickLength - 1; // TODO Transform vectors to account for m_upAxis - int iBeginX = static_cast<int>(floor(beginPos[0])); - int iBeginZ = static_cast<int>(floor(beginPos[2])); - int iEndX = static_cast<int>(floor(endPos[0])); - int iEndZ = static_cast<int>(floor(endPos[2])); + int indices[3] = { 0, 1, 2 }; + if (m_upAxis == 2) + { + indices[1] = 2; + indices[2] = 1; + } + int iBeginX = static_cast<int>(floor(beginPos[indices[0]])); + int iBeginZ = static_cast<int>(floor(beginPos[indices[2]])); + int iEndX = static_cast<int>(floor(endPos[indices[0]])); + int iEndZ = static_cast<int>(floor(endPos[indices[2]])); if (iBeginX == iEndX && iBeginZ == iEndZ) { @@ -662,36 +708,36 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con return; } - if (m_vboundsGrid == NULL) + + + if (m_vboundsGrid.size()==0) { // Process all quads intersecting the flat projection of the ray - gridRaycast(processTriangles, beginPos, endPos); + gridRaycast(processTriangles, beginPos, endPos, &indices[0]); } else { btVector3 rayDiff = endPos - beginPos; - btScalar flatDistance2 = rayDiff[0] * rayDiff[0] + rayDiff[2] * rayDiff[2]; + btScalar flatDistance2 = rayDiff[indices[0]] * rayDiff[indices[0]] + rayDiff[indices[2]] * rayDiff[indices[2]]; if (flatDistance2 < m_vboundsChunkSize * m_vboundsChunkSize) { // Don't use chunks, the ray is too short in the plane - gridRaycast(processTriangles, beginPos, endPos); + gridRaycast(processTriangles, beginPos, endPos, &indices[0]); } - ProcessVBoundsAction processVBounds; + ProcessVBoundsAction processVBounds(m_vboundsGrid, &indices[0]); processVBounds.width = m_vboundsGridWidth; processVBounds.length = m_vboundsGridLength; - processVBounds.vbounds = m_vboundsGrid; processVBounds.rayBegin = beginPos; processVBounds.rayEnd = endPos; processVBounds.rayDir = rayDiff.normalized(); processVBounds.processTriangles = processTriangles; processVBounds.chunkSize = m_vboundsChunkSize; // The ray is long, run raycast on a higher-level grid - gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize); + gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize, indices); } } - /// Builds a grid data structure storing the min and max heights of the terrain in chunks. /// if chunkSize is zero, that accelerator is removed. /// If you modify the heights, you need to rebuild this accelerator. @@ -708,11 +754,15 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) int nChunksZ = m_heightStickLength / chunkSize; if (m_heightStickWidth % chunkSize > 0) - ++nChunksX; // In case terrain size isn't dividable by chunk size + { + ++nChunksX; // In case terrain size isn't dividable by chunk size + } if (m_heightStickLength % chunkSize > 0) + { ++nChunksZ; + } - if(m_vboundsGridWidth != nChunksX || m_vboundsGridLength != nChunksZ) + if (m_vboundsGridWidth != nChunksX || m_vboundsGridLength != nChunksZ) { clearAccelerator(); m_vboundsGridWidth = nChunksX; @@ -720,13 +770,13 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) } if (nChunksX == 0 || nChunksZ == 0) + { return; + } - // TODO What is the recommended way to allocate this? // This data structure is only reallocated if the required size changed - if (m_vboundsGrid == NULL) - m_vboundsGrid = new Range[nChunksX * nChunksZ]; - + m_vboundsGrid.resize(nChunksX * nChunksZ); + // Compute min and max height for all chunks for (int cz = 0; cz < nChunksZ; ++cz) { @@ -760,19 +810,27 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) for (int z = z0; z < z0 + chunkSize + 1; ++z) { if (z >= m_heightStickLength) + { continue; + } for (int x = x0; x < x0 + chunkSize + 1; ++x) { if (x >= m_heightStickWidth) + { continue; + } btScalar height = getRawHeightFieldValue(x, z); if (height < r.min) + { r.min = height; + } else if (height > r.max) + { r.max = height; + } } } @@ -781,15 +839,7 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) } } - void btHeightfieldTerrainShape::clearAccelerator() { - if (m_vboundsGrid) - { - // TODO What is the recommended way to deallocate this? - delete[] m_vboundsGrid; - m_vboundsGrid = 0; - } -} - - + m_vboundsGrid.clear(); +}
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index e23b548cb2..43e1d25e3d 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -17,7 +17,7 @@ subject to the following restrictions: #define BT_HEIGHTFIELD_TERRAIN_SHAPE_H #include "btConcaveShape.h" - +#include "LinearMath/btAlignedObjectArray.h" ///btHeightfieldTerrainShape simulates a 2D heightfield terrain /** @@ -73,7 +73,8 @@ ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape { public: - struct Range { + struct Range + { btScalar min; btScalar max; }; @@ -102,13 +103,13 @@ protected: bool m_flipQuadEdges; bool m_useDiamondSubdivision; bool m_useZigzagSubdivision; - + bool m_flipTriangleWinding; int m_upAxis; btVector3 m_localScaling; // Accelerator - Range *m_vboundsGrid; + btAlignedObjectArray<Range> m_vboundsGrid; int m_vboundsGridWidth; int m_vboundsGridLength; int m_vboundsChunkSize; @@ -157,6 +158,10 @@ public: ///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625 void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; } + void setFlipTriangleWinding(bool flipTriangleWinding) + { + m_flipTriangleWinding = flipTriangleWinding; + } virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const; @@ -166,16 +171,20 @@ public: virtual void setLocalScaling(const btVector3& scaling); virtual const btVector3& getLocalScaling() const; - - void getVertex(int x,int y,btVector3& vertex) const; - void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) const; + void getVertex(int x, int y, btVector3& vertex) const; + + void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget) const; - void buildAccelerator(int chunkSize=16); + void buildAccelerator(int chunkSize = 16); void clearAccelerator(); + int getUpAxis() const + { + return m_upAxis; + } //debugging virtual const char* getName() const { return "HEIGHTFIELD"; } }; -#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H +#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h index 54888c6757..8f78c234b4 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactBvhStructs.h @@ -28,28 +28,7 @@ subject to the following restrictions: #include "btBoxCollision.h" #include "btTriangleShapeEx.h" - -//! Overlapping pair -struct GIM_PAIR -{ - int m_index1; - int m_index2; - GIM_PAIR() - { - } - - GIM_PAIR(const GIM_PAIR& p) - { - m_index1 = p.m_index1; - m_index2 = p.m_index2; - } - - GIM_PAIR(int index1, int index2) - { - m_index1 = index1; - m_index2 = index2; - } -}; +#include "gim_pair.h" //for GIM_PAIR ///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box struct GIM_BVH_DATA diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp index 3d8ab9f520..73e3db1010 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp @@ -18,7 +18,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ /* -Author: Francisco Len Nßjera +Author: Francisco Leon Najera Concave-Concave Collision */ @@ -590,14 +590,16 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrappe } btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0); - const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap(); + const btCollisionObjectWrapper* prevObj; if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject()) { + prevObj = m_resultOut->getBody0Wrap(); m_resultOut->setBody0Wrap(&ob0); } else { + prevObj = m_resultOut->getBody1Wrap(); m_resultOut->setBody1Wrap(&ob0); } @@ -610,7 +612,15 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrappe { shape_vs_shape_collision(&ob0, body1Wrap, colshape0, shape1); } - m_resultOut->setBody0Wrap(prevObj0); + + if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject()) + { + m_resultOut->setBody0Wrap(prevObj); + } + else + { + m_resultOut->setBody1Wrap(prevObj); + } } shape0->unlockChildShapes(); diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h index 5b85e87041..eb33ce05e2 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -1,5 +1,5 @@ /*! \file btGImpactShape.h -\author Francisco Len Nßjera +\author Francisco Leon Najera */ /* This source file is part of GIMPACT Library. diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h index 0522007e4f..afc591dac0 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_box_set.h @@ -37,28 +37,7 @@ email: projectileman@yahoo.com #include "gim_radixsort.h" #include "gim_box_collision.h" #include "gim_tri_collision.h" - -//! Overlapping pair -struct GIM_PAIR -{ - GUINT m_index1; - GUINT m_index2; - GIM_PAIR() - { - } - - GIM_PAIR(const GIM_PAIR& p) - { - m_index1 = p.m_index1; - m_index2 = p.m_index2; - } - - GIM_PAIR(GUINT index1, GUINT index2) - { - m_index1 = index1; - m_index2 = index2; - } -}; +#include "gim_pair.h" //! A pairset array class gim_pair_set : public gim_array<GIM_PAIR> diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h new file mode 100644 index 0000000000..56c185a5dc --- /dev/null +++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_pair.h @@ -0,0 +1,28 @@ +#ifndef GIM_PAIR_H +#define GIM_PAIR_H + + +//! Overlapping pair +struct GIM_PAIR +{ + int m_index1; + int m_index2; + GIM_PAIR() + { + } + + GIM_PAIR(const GIM_PAIR& p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(int index1, int index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +#endif //GIM_PAIR_H + diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h index 76f54699c5..77b19be599 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h @@ -23,11 +23,11 @@ class btMinkowskiSumShape; #include "LinearMath/btIDebugDraw.h" #ifdef BT_USE_DOUBLE_PRECISION -#define MAX_ITERATIONS 64 -#define MAX_EPSILON (SIMD_EPSILON * 10) +#define MAX_CONVEX_CAST_ITERATIONS 64 +#define MAX_CONVEX_CAST_EPSILON (SIMD_EPSILON * 10) #else -#define MAX_ITERATIONS 32 -#define MAX_EPSILON btScalar(0.0001) +#define MAX_CONVEX_CAST_ITERATIONS 32 +#define MAX_CONVEX_CAST_EPSILON btScalar(0.0001) #endif ///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases. ///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565 @@ -58,8 +58,8 @@ public: : m_fraction(btScalar(BT_LARGE_FLOAT)), m_debugDrawer(0), m_allowedPenetration(btScalar(0)), - m_subSimplexCastMaxIterations(MAX_ITERATIONS), - m_subSimplexCastEpsilon(MAX_EPSILON) + m_subSimplexCastMaxIterations(MAX_CONVEX_CAST_ITERATIONS), + m_subSimplexCastEpsilon(MAX_CONVEX_CAST_EPSILON) { } diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 803f6e0671..4339b2ea75 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -1,4 +1,4 @@ -/* +/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h index 2b2dfabec2..2d0df718a2 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h @@ -37,6 +37,7 @@ public: ///SubSimplexConvexCastRaytest is the default, even if kF_None is set. kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm kF_UseGjkConvexCastRaytest = 1 << 3, + kF_DisableHeightfieldAccelerator = 1 << 4, //don't use the heightfield raycast accelerator. See https://github.com/bulletphysics/bullet3/pull/2062 kF_Terminator = 0xFFFFFFFF }; unsigned int m_flags; |