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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp | 122 |
1 files changed, 0 insertions, 122 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp deleted file mode 100644 index 823e2788f2..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp +++ /dev/null @@ -1,122 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -#include "BulletCollision/CollisionShapes/btCollisionShape.h" -#include "LinearMath/btSerializer.h" - -/* - Make sure this dummy function never changes so that it - can be used by probes that are checking whether the - library is actually installed. -*/ -extern "C" -{ -void btBulletCollisionProbe (); - -void btBulletCollisionProbe () {} -} - - - -void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const -{ - btTransform tr; - tr.setIdentity(); - btVector3 aabbMin,aabbMax; - - getAabb(tr,aabbMin,aabbMax); - - radius = (aabbMax-aabbMin).length()*btScalar(0.5); - center = (aabbMin+aabbMax)*btScalar(0.5); -} - - -btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const -{ - return getAngularMotionDisc() * defaultContactThreshold; -} - -btScalar btCollisionShape::getAngularMotionDisc() const -{ - ///@todo cache this value, to improve performance - btVector3 center; - btScalar disc; - getBoundingSphere(center,disc); - disc += (center).length(); - return disc; -} - -void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const -{ - //start with static aabb - getAabb(curTrans,temporalAabbMin,temporalAabbMax); - - btScalar temporalAabbMaxx = temporalAabbMax.getX(); - btScalar temporalAabbMaxy = temporalAabbMax.getY(); - btScalar temporalAabbMaxz = temporalAabbMax.getZ(); - btScalar temporalAabbMinx = temporalAabbMin.getX(); - btScalar temporalAabbMiny = temporalAabbMin.getY(); - btScalar temporalAabbMinz = temporalAabbMin.getZ(); - - // add linear motion - btVector3 linMotion = linvel*timeStep; - ///@todo: simd would have a vector max/min operation, instead of per-element access - if (linMotion.x() > btScalar(0.)) - temporalAabbMaxx += linMotion.x(); - else - temporalAabbMinx += linMotion.x(); - if (linMotion.y() > btScalar(0.)) - temporalAabbMaxy += linMotion.y(); - else - temporalAabbMiny += linMotion.y(); - if (linMotion.z() > btScalar(0.)) - temporalAabbMaxz += linMotion.z(); - else - temporalAabbMinz += linMotion.z(); - - //add conservative angular motion - btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep; - btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion); - temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz); - temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz); - - temporalAabbMin -= angularMotion3d; - temporalAabbMax += angularMotion3d; -} - -///fills the dataBuffer and returns the struct name (and 0 on failure) -const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const -{ - btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer; - char* name = (char*) serializer->findNameForPointer(this); - shapeData->m_name = (char*)serializer->getUniquePointer(name); - if (shapeData->m_name) - { - serializer->serializeName(name); - } - shapeData->m_shapeType = m_shapeType; - - // Fill padding with zeros to appease msan. - memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding)); - - return "btCollisionShapeData"; -} - -void btCollisionShape::serializeSingleShape(btSerializer* serializer) const -{ - int len = calculateSerializeBufferSize(); - btChunk* chunk = serializer->allocate(len,1); - const char* structType = serialize(chunk->m_oldPtr, serializer); - serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this); -}
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