diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision')
12 files changed, 229 insertions, 65 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp index 4954e773e2..19f1737b73 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp @@ -346,8 +346,6 @@ void btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb } } -int maxIterations = 0; - void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const { btAssert(!m_useQuantization); @@ -387,8 +385,6 @@ void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback, cons curIndex += escapeIndex; } } - if (maxIterations < walkIterations) - maxIterations = walkIterations; } /* @@ -529,8 +525,6 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall curIndex += escapeIndex; } } - if (maxIterations < walkIterations) - maxIterations = walkIterations; } void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const @@ -654,8 +648,6 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* curIndex += escapeIndex; } } - if (maxIterations < walkIterations) - maxIterations = walkIterations; } void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const @@ -718,8 +710,6 @@ void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb curIndex += escapeIndex; } } - if (maxIterations < walkIterations) - maxIterations = walkIterations; } //This traversal can be called from Playstation 3 SPU diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h index 85dc488c8c..dbe82fd61f 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -24,6 +24,7 @@ subject to the following restrictions: #define WANTS_DEACTIVATION 3 #define DISABLE_DEACTIVATION 4 #define DISABLE_SIMULATION 5 +#define FIXED_BASE_MULTI_BODY 6 struct btBroadphaseProxy; class btCollisionShape; @@ -127,6 +128,7 @@ public: enum CollisionFlags { + CF_DYNAMIC_OBJECT = 0, CF_STATIC_OBJECT = 1, CF_KINEMATIC_OBJECT = 2, CF_NO_CONTACT_RESPONSE = 4, @@ -251,6 +253,16 @@ public: m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0; } + int getNumObjectsWithoutCollision() const + { + return m_objectsWithoutCollisionCheck.size(); + } + + const btCollisionObject* getObjectWithoutCollision(int index) + { + return m_objectsWithoutCollisionCheck[index]; + } + virtual bool checkCollideWithOverride(const btCollisionObject* co) const { int index = m_objectsWithoutCollisionCheck.findLinearSearch(co); @@ -293,7 +305,7 @@ public: SIMD_FORCE_INLINE bool isActive() const { - return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION)); + return ((getActivationState() != FIXED_BASE_MULTI_BODY) && (getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION)); } void setRestitution(btScalar rest) diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 71184f36ac..f74dcabc54 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -1037,7 +1037,7 @@ struct btSingleSweepCallback : public btBroadphaseRayCallback m_castShape(castShape) { btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin()); - btVector3 rayDir = unnormalizedRayDir.normalized(); + btVector3 rayDir = unnormalizedRayDir.fuzzyZero() ? btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)) : unnormalizedRayDir.normalized(); ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0]; m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1]; @@ -1294,9 +1294,7 @@ public: btVector3 normalColor(1, 1, 0); m_debugDrawer->drawLine(center, center + normal, normalColor); } - m_debugDrawer->drawLine(wv0, wv1, m_color); - m_debugDrawer->drawLine(wv1, wv2, m_color); - m_debugDrawer->drawLine(wv2, wv0, m_color); + m_debugDrawer->drawTriangle(wv0, wv1, wv2, m_color, 1.0); } }; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index a4252c296a..a71700f58a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -361,7 +361,13 @@ void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangle for (int j = 2; j >= 0; j--) { - int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j]; + int graphicsindex; + switch (indicestype) { + case PHY_INTEGER: graphicsindex = gfxbase[j]; break; + case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break; + case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break; + default: btAssert(0); + } if (type == PHY_FLOAT) { float* graphicsbase = (float*)(vertexbase + graphicsindex * stride); diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp index d663b3d6d6..c66ce58e3e 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp @@ -124,12 +124,17 @@ void btBvhTriangleMeshShape::performRaycast(btTriangleCallback* callback, const nodeSubPart); unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride); - btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT); const btVector3& meshScaling = m_meshInterface->getScaling(); for (int j = 2; j >= 0; j--) { - int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j]; + int graphicsindex; + switch (indicestype) { + case PHY_INTEGER: graphicsindex = gfxbase[j]; break; + case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break; + case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break; + default: btAssert(0); + } if (type == PHY_FLOAT) { @@ -193,12 +198,17 @@ void btBvhTriangleMeshShape::performConvexcast(btTriangleCallback* callback, con nodeSubPart); unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride); - btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT); const btVector3& meshScaling = m_meshInterface->getScaling(); for (int j = 2; j >= 0; j--) { - int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j]; + int graphicsindex; + switch (indicestype) { + case PHY_INTEGER: graphicsindex = gfxbase[j]; break; + case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break; + case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break; + default: btAssert(0); + } if (type == PHY_FLOAT) { diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h index c80e105a4d..16f9e0c77a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCollisionShape.h @@ -30,11 +30,12 @@ protected: int m_shapeType; void* m_userPointer; int m_userIndex; + int m_userIndex2; public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1) + btCollisionShape() : m_shapeType(INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1), m_userIndex2(-1) { } @@ -137,6 +138,16 @@ public: return m_userIndex; } + void setUserIndex2(int index) + { + m_userIndex2 = index; + } + + int getUserIndex2() const + { + return m_userIndex2; + } + virtual int calculateSerializeBufferSize() const; ///fills the dataBuffer and returns the struct name (and 0 on failure) diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 34e7926f17..01bf7f67f5 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -18,26 +18,72 @@ subject to the following restrictions: #include "LinearMath/btTransformUtil.h" btHeightfieldTerrainShape::btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, + const float* heightfieldData, btScalar minHeight, btScalar maxHeight, + int upAxis, bool flipQuadEdges) + : m_userValue3(0), m_triangleInfoMap(0) +{ + initialize(heightStickWidth, heightStickLength, heightfieldData, + /*heightScale=*/1, minHeight, maxHeight, upAxis, PHY_FLOAT, + flipQuadEdges); +} + +btHeightfieldTerrainShape::btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, const double* heightfieldData, + btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges) + : m_userValue3(0), m_triangleInfoMap(0) +{ + initialize(heightStickWidth, heightStickLength, heightfieldData, + /*heightScale=*/1, minHeight, maxHeight, upAxis, PHY_DOUBLE, + flipQuadEdges); +} + +btHeightfieldTerrainShape::btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, const short* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges) + : m_userValue3(0), m_triangleInfoMap(0) +{ + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, PHY_SHORT, + flipQuadEdges); +} + +btHeightfieldTerrainShape::btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, const unsigned char* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges) + : m_userValue3(0), m_triangleInfoMap(0) +{ + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, PHY_UCHAR, + flipQuadEdges); +} + +btHeightfieldTerrainShape::btHeightfieldTerrainShape( int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, PHY_ScalarType hdt, bool flipQuadEdges) - :m_userIndex2(-1), - m_userValue3(0), + :m_userValue3(0), m_triangleInfoMap(0) { + // legacy constructor: Assumes PHY_FLOAT means btScalar. +#ifdef BT_USE_DOUBLE_PRECISION + if (hdt == PHY_FLOAT) hdt = PHY_DOUBLE; +#endif initialize(heightStickWidth, heightStickLength, heightfieldData, heightScale, minHeight, maxHeight, upAxis, hdt, flipQuadEdges); } btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges) - :m_userIndex2(-1), - m_userValue3(0), + : m_userValue3(0), m_triangleInfoMap(0) { - // legacy constructor: support only float or unsigned char, - // and min height is zero + // legacy constructor: support only btScalar or unsigned char data, + // and min height is zero. PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR; +#ifdef BT_USE_DOUBLE_PRECISION + if (hdt == PHY_FLOAT) hdt = PHY_DOUBLE; +#endif btScalar minHeight = 0.0f; // previously, height = uchar * maxHeight / 65535. @@ -61,7 +107,7 @@ void btHeightfieldTerrainShape::initialize( // btAssert(heightScale) -- do we care? Trust caller here btAssert(minHeight <= maxHeight); // && "bad min/max height"); btAssert(upAxis >= 0 && upAxis < 3); // && "bad upAxis--should be in range [0,2]"); - btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT); // && "Bad height data type enum"); + btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_DOUBLE || hdt != PHY_SHORT); // && "Bad height data type enum"); // initialize member variables m_shapeType = TERRAIN_SHAPE_PROXYTYPE; @@ -154,6 +200,12 @@ btHeightfieldTerrainShape::getRawHeightFieldValue(int x, int y) const break; } + case PHY_DOUBLE: + { + val = m_heightfieldDataDouble[(y * m_heightStickWidth) + x]; + break; + } + case PHY_UCHAR: { unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y * m_heightStickWidth) + x]; @@ -234,6 +286,30 @@ getQuantized( return (int)(x + 0.5); } +// Equivalent to std::minmax({a, b, c}). +// Performs at most 3 comparisons. +static btHeightfieldTerrainShape::Range minmaxRange(btScalar a, btScalar b, btScalar c) +{ + if (a > b) + { + if (b > c) + return btHeightfieldTerrainShape::Range(c, a); + else if (a > c) + return btHeightfieldTerrainShape::Range(b, a); + else + return btHeightfieldTerrainShape::Range(b, c); + } + else + { + if (a > c) + return btHeightfieldTerrainShape::Range(c, b); + else if (b > c) + return btHeightfieldTerrainShape::Range(a, b); + else + return btHeightfieldTerrainShape::Range(a, c); + } +} + /// given input vector, return quantized version /** This routine is basically determining the gridpoint indices for a given @@ -336,7 +412,8 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback } // TODO If m_vboundsGrid is available, use it to determine if we really need to process this area - + + const Range aabbUpRange(aabbMin[m_upAxis], aabbMax[m_upAxis]); for (int j = startJ; j < endJ; j++) { for (int x = startX; x < endX; x++) @@ -351,29 +428,51 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j + x) & 1)) || (m_useZigzagSubdivision && !(j & 1))) { - //first triangle getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, 2 * x, j); - //second triangle - // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman - getVertex(x + 1, j + 1, vertices[indices[1]]); + + // Skip triangle processing if the triangle is out-of-AABB. + Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]); + + if (upRange.overlaps(aabbUpRange)) + callback->processTriangle(vertices, 2 * x, j); + + // already set: getVertex(x, j, vertices[indices[0]]) + + // equivalent to: getVertex(x + 1, j + 1, vertices[indices[1]]); + vertices[indices[1]] = vertices[indices[2]]; + getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, 2 * x+1, j); + upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]); + upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]); + + if (upRange.overlaps(aabbUpRange)) + callback->processTriangle(vertices, 2 * x + 1, j); } else { - //first triangle getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, 2 * x, j); - //second triangle - getVertex(x + 1, j, vertices[indices[0]]); - //getVertex(x,j+1,vertices[1]); + + // Skip triangle processing if the triangle is out-of-AABB. + Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]); + + if (upRange.overlaps(aabbUpRange)) + callback->processTriangle(vertices, 2 * x, j); + + // already set: getVertex(x, j + 1, vertices[indices[1]]); + + // equivalent to: getVertex(x + 1, j, vertices[indices[0]]); + vertices[indices[0]] = vertices[indices[2]]; + getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, 2 * x+1, j); + upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]); + upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]); + + if (upRange.overlaps(aabbUpRange)) + callback->processTriangle(vertices, 2 * x + 1, j); } } } @@ -848,4 +947,4 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize) void btHeightfieldTerrainShape::clearAccelerator() { 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 8dea98fc6b..7e251fa71e 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -50,17 +50,15 @@ subject to the following restrictions: The heightfield heights are determined from the data type used for the heightfieldData array. - - PHY_UCHAR: height at a point is the uchar value at the + - unsigned char: height at a point is the uchar value at the grid point, multipled by heightScale. uchar isn't recommended because of its inability to deal with negative values, and low resolution (8-bit). - - PHY_SHORT: height at a point is the short int value at that grid + - short: height at a point is the short int value at that grid point, multipled by heightScale. - - PHY_FLOAT: height at a point is the float value at that grid - point. heightScale is ignored when using the float heightfield - data type. + - float or dobule: height at a point is the value at that grid point. Whatever the caller specifies as minHeight and maxHeight will be honored. The class will not inspect the heightfield to discover the actual minimum @@ -75,6 +73,14 @@ btHeightfieldTerrainShape : public btConcaveShape public: struct Range { + Range() {} + Range(btScalar min, btScalar max) : min(min), max(max) {} + + bool overlaps(const Range& other) const + { + return !(min > other.max || max < other.min); + } + btScalar min; btScalar max; }; @@ -95,7 +101,8 @@ protected: union { const unsigned char* m_heightfieldDataUnsignedChar; const short* m_heightfieldDataShort; - const btScalar* m_heightfieldDataFloat; + const float* m_heightfieldDataFloat; + const double* m_heightfieldDataDouble; const void* m_heightfieldDataUnknown; }; @@ -114,7 +121,7 @@ protected: int m_vboundsGridLength; int m_vboundsChunkSize; - int m_userIndex2; + btScalar m_userValue3; struct btTriangleInfoMap* m_triangleInfoMap; @@ -135,11 +142,33 @@ protected: public: BT_DECLARE_ALIGNED_ALLOCATOR(); - /// preferred constructor + /// preferred constructors + btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, + const float* heightfieldData, btScalar minHeight, btScalar maxHeight, + int upAxis, bool flipQuadEdges); + btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, + const double* heightfieldData, btScalar minHeight, btScalar maxHeight, + int upAxis, bool flipQuadEdges); + btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, + const short* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, + int upAxis, bool flipQuadEdges); + btHeightfieldTerrainShape( + int heightStickWidth, int heightStickLength, + const unsigned char* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, + int upAxis, bool flipQuadEdges); + + /// legacy constructor /** This constructor supports a range of heightfield data types, and allows for a non-zero minimum height value. heightScale is needed for any integer-based heightfield data types. + + This legacy constructor considers `PHY_FLOAT` to mean `btScalar`. + With `BT_USE_DOUBLE_PRECISION`, it will expect `heightfieldData` + to be double-precision. */ btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar heightScale, @@ -150,7 +179,7 @@ public: /// legacy constructor /** The legacy constructor assumes the heightfield has a minimum height - of zero. Only unsigned char or floats are supported. For legacy + of zero. Only unsigned char or btScalar data are supported. For legacy compatibility reasons, heightScale is calculated as maxHeight / 65535 (and is only used when useFloatData = false). */ @@ -192,14 +221,6 @@ public: virtual const char* getName() const { return "HEIGHTFIELD"; } - void setUserIndex2(int index) - { - m_userIndex2 = index; - } - int getUserIndex2() const - { - return m_userIndex2; - } void setUserValue3(btScalar value) { m_userValue3 = value; @@ -226,4 +247,4 @@ public: } }; -#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file +#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp index 687399e0a9..863ea6d6ac 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp @@ -286,7 +286,6 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart); curNodeSubPart = nodeSubPart; - btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT); } //triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts, @@ -294,7 +293,13 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int for (int j = 2; j >= 0; j--) { - int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j]; + int graphicsindex; + switch (indicestype) { + case PHY_INTEGER: graphicsindex = gfxbase[j]; break; + case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break; + case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break; + default: btAssert(0); + } if (type == PHY_FLOAT) { float* graphicsbase = (float*)(vertexbase + graphicsindex * stride); diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp index 4a95dbea4f..23c95ad3ff 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp @@ -2,8 +2,11 @@ #include "btMiniSDF.h" #include "LinearMath/btAabbUtil2.h" -struct btSdfCollisionShapeInternalData +ATTRIBUTE_ALIGNED16(struct) +btSdfCollisionShapeInternalData { + BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 m_localScaling; btScalar m_margin; btMiniSDF m_sdf; diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h index 5b85e87041..cc91079579 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -623,13 +623,21 @@ public: i1 = s_indices[1]; i2 = s_indices[2]; } - else + else if (indicestype == PHY_INTEGER) { unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride); i0 = i_indices[0]; i1 = i_indices[1]; i2 = i_indices[2]; } + else + { + btAssert(indicestype == PHY_UCHAR); + unsigned char* i_indices = (unsigned char*)(indexbase + face_index * indexstride); + i0 = i_indices[0]; + i1 = i_indices[1]; + i2 = i_indices[2]; + } } SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp index 45d1817135..7d53f8624a 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp @@ -1049,7 +1049,8 @@ btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position, const btScalar length = delta.length(); results.normal = delta / length; results.witnesses[0] += results.normal * margin; - return (length - margin); + results.distance = length - margin; + return results.distance; } else { |