diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision')
5 files changed, 161 insertions, 31 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp index c79623bd57..6873a95d90 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp @@ -80,6 +80,7 @@ struct ClipVertex btVector3 v; int id; //b2ContactID id; + //b2ContactID id; }; #define b2Dot(a, b) (a).dot(b) diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h index e085c40892..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; @@ -304,7 +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/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index cab6980b65..01bf7f67f5 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -18,12 +18,57 @@ 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_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); @@ -33,9 +78,12 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h : 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. @@ -59,7 +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; @@ -152,6 +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]; @@ -232,6 +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 @@ -334,7 +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++) @@ -349,29 +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); } } } @@ -846,4 +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 2cf3c00721..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; }; @@ -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). */ @@ -218,4 +247,4 @@ public: } }; -#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file +#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H |