diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h | 63 |
1 files changed, 32 insertions, 31 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h index 7092e62b5a..bc909990c2 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h @@ -29,21 +29,22 @@ subject to the following restrictions: #define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData" #endif - class btMultiBodyLinkCollider : public btCollisionObject { -//protected: + //protected: public: - btMultiBody* m_multiBody; int m_link; + virtual ~btMultiBodyLinkCollider() + { - btMultiBodyLinkCollider (btMultiBody* multiBody,int link) - :m_multiBody(multiBody), - m_link(link) + } + btMultiBodyLinkCollider(btMultiBody* multiBody, int link) + : m_multiBody(multiBody), + m_link(link) { - m_checkCollideWith = true; + m_checkCollideWith = true; //we need to remove the 'CF_STATIC_OBJECT' flag, otherwise links/base doesn't merge islands //this means that some constraints might point to bodies that are not in the islands, causing crashes //if (link>=0 || (multiBody && !multiBody->hasFixedBase())) @@ -59,18 +60,18 @@ public: } static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj) { - if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK) + if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK) return (btMultiBodyLinkCollider*)colObj; return 0; } static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj) { - if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK) + if (colObj->getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK) return (btMultiBodyLinkCollider*)colObj; return 0; } - virtual bool checkCollideWithOverride(const btCollisionObject* co) const + virtual bool checkCollideWithOverride(const btCollisionObject* co) const { const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co); if (!other) @@ -81,47 +82,46 @@ public: return false; //check if 'link' has collision disabled - if (m_link>=0) + if (m_link >= 0) { const btMultibodyLink& link = m_multiBody->getLink(this->m_link); - if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) + if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) { int parent_of_this = m_link; while (1) { - if (parent_of_this==-1) + if (parent_of_this == -1) break; parent_of_this = m_multiBody->getLink(parent_of_this).m_parent; - if (parent_of_this==other->m_link) + if (parent_of_this == other->m_link) { return false; } } } - else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) + else if (link.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) { - if ( link.m_parent == other->m_link) + if (link.m_parent == other->m_link) return false; } - } - if (other->m_link>=0) + if (other->m_link >= 0) { const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); - if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) + if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) { int parent_of_other = other->m_link; while (1) { - if (parent_of_other==-1) + if (parent_of_other == -1) break; parent_of_other = m_multiBody->getLink(parent_of_other).m_parent; - if (parent_of_other==this->m_link) + if (parent_of_other == this->m_link) return false; } } - else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) + else if (otherLink.m_flags & BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) { if (otherLink.m_parent == this->m_link) return false; @@ -130,13 +130,13 @@ public: return true; } - 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, class btSerializer* serializer) const; - + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; }; +// clang-format off struct btMultiBodyLinkColliderFloatData { @@ -154,16 +154,18 @@ struct btMultiBodyLinkColliderDoubleData char m_padding[4]; }; -SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const +// clang-format on + +SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const { return sizeof(btMultiBodyLinkColliderData); } -SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const +SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const { btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer; - btCollisionObject::serialize(&dataOut->m_colObjData,serializer); - + btCollisionObject::serialize(&dataOut->m_colObjData, serializer); + dataOut->m_link = this->m_link; dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody); @@ -173,5 +175,4 @@ SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffe return btMultiBodyLinkColliderDataName; } -#endif //BT_FEATHERSTONE_LINK_COLLIDER_H - +#endif //BT_FEATHERSTONE_LINK_COLLIDER_H |