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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp | 291 |
1 files changed, 0 insertions, 291 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp b/thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp deleted file mode 100644 index 30c85e3fff..0000000000 --- a/thirdparty/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp +++ /dev/null @@ -1,291 +0,0 @@ -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -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 "btGImpactShape.h" -#include "btGImpactMassUtil.h" - - -btGImpactMeshShapePart::btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part ) -{ - // moved from .h to .cpp because of conditional compilation - // (The setting of BT_THREADSAFE may differ between various cpp files, so it is best to - // avoid using it in h files) - m_primitive_manager.m_meshInterface = meshInterface; - m_primitive_manager.m_part = part; - m_box_set.setPrimitiveManager( &m_primitive_manager ); -#if BT_THREADSAFE - // If threadsafe is requested, this object uses a different lock/unlock - // model with the btStridingMeshInterface -- lock once when the object is constructed - // and unlock once in the destructor. - // The other way of locking and unlocking for each collision check in the narrowphase - // is not threadsafe. Note these are not thread-locks, they are calls to the meshInterface's - // getLockedReadOnlyVertexIndexBase virtual function, which by default just returns a couple of - // pointers. In theory a client could override the lock function to do all sorts of - // things like reading data from GPU memory, or decompressing data on the fly, but such things - // do not seem all that likely or useful, given the performance cost. - m_primitive_manager.lock(); -#endif -} - -btGImpactMeshShapePart::~btGImpactMeshShapePart() -{ - // moved from .h to .cpp because of conditional compilation -#if BT_THREADSAFE - m_primitive_manager.unlock(); -#endif -} - -void btGImpactMeshShapePart::lockChildShapes() const -{ - // moved from .h to .cpp because of conditional compilation -#if ! BT_THREADSAFE - // called in the narrowphase -- not threadsafe! - void * dummy = (void*) ( m_box_set.getPrimitiveManager() ); - TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>( dummy ); - dummymanager->lock(); -#endif -} - -void btGImpactMeshShapePart::unlockChildShapes() const -{ - // moved from .h to .cpp because of conditional compilation -#if ! BT_THREADSAFE - // called in the narrowphase -- not threadsafe! - void * dummy = (void*) ( m_box_set.getPrimitiveManager() ); - TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>( dummy ); - dummymanager->unlock(); -#endif -} - - -#define CALC_EXACT_INERTIA 1 - - -void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - lockChildShapes(); -#ifdef CALC_EXACT_INERTIA - inertia.setValue(0.f,0.f,0.f); - - int i = this->getNumChildShapes(); - btScalar shapemass = mass/btScalar(i); - - while(i--) - { - btVector3 temp_inertia; - m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia); - if(childrenHasTransform()) - { - inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]); - } - else - { - inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity()); - } - - } - -#else - - // Calc box inertia - - btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; - btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; - btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(0.08333333); - - inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); - -#endif - unlockChildShapes(); -} - - - -void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - lockChildShapes(); - - -#ifdef CALC_EXACT_INERTIA - inertia.setValue(0.f,0.f,0.f); - - int i = this->getVertexCount(); - btScalar pointmass = mass/btScalar(i); - - while(i--) - { - btVector3 pointintertia; - this->getVertex(i,pointintertia); - pointintertia = gim_get_point_inertia(pointintertia,pointmass); - inertia+=pointintertia; - } - -#else - - // Calc box inertia - - btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; - btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; - btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(0.08333333); - - inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); - -#endif - - unlockChildShapes(); -} - -void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - -#ifdef CALC_EXACT_INERTIA - inertia.setValue(0.f,0.f,0.f); - - int i = this->getMeshPartCount(); - btScalar partmass = mass/btScalar(i); - - while(i--) - { - btVector3 partinertia; - getMeshPart(i)->calculateLocalInertia(partmass,partinertia); - inertia+=partinertia; - } - -#else - - // Calc box inertia - - btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; - btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; - btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(0.08333333); - - inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); - -#endif -} - -void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const -{ -} - -void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const -{ - lockChildShapes(); - - btAlignedObjectArray<int> collided; - btVector3 rayDir(rayTo - rayFrom); - rayDir.normalize(); - m_box_set.rayQuery(rayDir, rayFrom, collided); - - if(collided.size()==0) - { - unlockChildShapes(); - return; - } - - int part = (int)getPart(); - btPrimitiveTriangle triangle; - int i = collided.size(); - while(i--) - { - getPrimitiveTriangle(collided[i],triangle); - callback->processTriangle(triangle.m_vertices,part,collided[i]); - } - unlockChildShapes(); -} - -void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - lockChildShapes(); - btAABB box; - box.m_min = aabbMin; - box.m_max = aabbMax; - - btAlignedObjectArray<int> collided; - m_box_set.boxQuery(box,collided); - - if(collided.size()==0) - { - unlockChildShapes(); - return; - } - - int part = (int)getPart(); - btPrimitiveTriangle triangle; - int i = collided.size(); - while(i--) - { - this->getPrimitiveTriangle(collided[i],triangle); - callback->processTriangle(triangle.m_vertices,part,collided[i]); - } - unlockChildShapes(); - -} - -void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - int i = m_mesh_parts.size(); - while(i--) - { - m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax); - } -} - -void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const -{ - int i = m_mesh_parts.size(); - while(i--) - { - m_mesh_parts[i]->processAllTrianglesRay(callback, rayFrom, rayTo); - } -} - - -///fills the dataBuffer and returns the struct name (and 0 on failure) -const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const -{ - btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*) dataBuffer; - - btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer); - - m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer); - - trimeshData->m_collisionMargin = float(m_collisionMargin); - - localScaling.serializeFloat(trimeshData->m_localScaling); - - trimeshData->m_gimpactSubType = int(getGImpactShapeType()); - - return "btGImpactMeshShapeData"; -} - |