diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h | 138 |
1 files changed, 63 insertions, 75 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h index f8c55ace4eb..138d0c0f7c1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -17,108 +17,96 @@ subject to the following restrictions: #define BT_CAPSULE_SHAPE_H #include "btConvexInternalShape.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types - +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres. -ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) +btCapsuleShape : public btConvexInternalShape { protected: - int m_upAxis; + int m_upAxis; protected: ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. - btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;}; + btCapsuleShape() : btConvexInternalShape() { m_shapeType = CAPSULE_SHAPE_PROXYTYPE; }; public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btCapsuleShape(btScalar radius,btScalar height); + + btCapsuleShape(btScalar radius, btScalar height); ///CollisionShape Interface - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; /// btConvexShape Interface - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual void setMargin(btScalar collisionMargin) { - //correct the m_implicitShapeDimensions for the margin - btVector3 oldMargin(getMargin(),getMargin(),getMargin()); - btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; - - btConvexInternalShape::setMargin(collisionMargin); - btVector3 newMargin(getMargin(),getMargin(),getMargin()); - m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; - + //don't override the margin for capsules, their entire radius == margin + (void)collisionMargin; } - virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { - btVector3 halfExtents(getRadius(),getRadius(),getRadius()); - halfExtents[m_upAxis] = getRadius() + getHalfHeight(); - halfExtents += btVector3(getMargin(),getMargin(),getMargin()); - btMatrix3x3 abs_b = t.getBasis().absolute(); - btVector3 center = t.getOrigin(); - btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); - - aabbMin = center - extent; - aabbMax = center + extent; + btVector3 halfExtents(getRadius(), getRadius(), getRadius()); + halfExtents[m_upAxis] = getRadius() + getHalfHeight(); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + + aabbMin = center - extent; + aabbMax = center + extent; } - virtual const char* getName()const + virtual const char* getName() const { return "CapsuleShape"; } - int getUpAxis() const + int getUpAxis() const { return m_upAxis; } - btScalar getRadius() const + btScalar getRadius() const { - int radiusAxis = (m_upAxis+2)%3; + int radiusAxis = (m_upAxis + 2) % 3; return m_implicitShapeDimensions[radiusAxis]; } - btScalar getHalfHeight() const + btScalar getHalfHeight() const { return m_implicitShapeDimensions[m_upAxis]; } - virtual void setLocalScaling(const btVector3& scaling) + virtual void setLocalScaling(const btVector3& scaling) { - btVector3 oldMargin(getMargin(),getMargin(),getMargin()); - btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; - btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; - + btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling; btConvexInternalShape::setLocalScaling(scaling); - - m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; - + m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling); + //update m_collisionMargin, since entire radius==margin + int radiusAxis = (m_upAxis + 2) % 3; + m_collisionMargin = m_implicitShapeDimensions[radiusAxis]; } - virtual btVector3 getAnisotropicRollingFrictionDirection() const + virtual btVector3 getAnisotropicRollingFrictionDirection() const { - btVector3 aniDir(0,0,0); - aniDir[getUpAxis()]=1; + btVector3 aniDir(0, 0, 0); + aniDir[getUpAxis()] = 1; return aniDir; } - - 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, btSerializer* serializer) const; - - SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData* dataBuffer); + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData * dataBuffer); }; ///btCapsuleShapeX represents a capsule around the Z axis @@ -126,17 +114,13 @@ public: class btCapsuleShapeX : public btCapsuleShape { public: + btCapsuleShapeX(btScalar radius, btScalar height); - btCapsuleShapeX(btScalar radius,btScalar height); - //debugging - virtual const char* getName()const + virtual const char* getName() const { return "CapsuleX"; } - - - }; ///btCapsuleShapeZ represents a capsule around the Z axis @@ -144,45 +128,49 @@ public: class btCapsuleShapeZ : public btCapsuleShape { public: - btCapsuleShapeZ(btScalar radius,btScalar height); + btCapsuleShapeZ(btScalar radius, btScalar height); - //debugging - virtual const char* getName()const + //debugging + virtual const char* getName() const { return "CapsuleZ"; } - - }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btCapsuleShapeData +struct btCapsuleShapeData { - btConvexInternalShapeData m_convexInternalShapeData; + btConvexInternalShapeData m_convexInternalShapeData; - int m_upAxis; + int m_upAxis; - char m_padding[4]; + char m_padding[4]; }; -SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const { return sizeof(btCapsuleShapeData); } - ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const { - btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer; - - btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); + btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer; + + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); shapeData->m_upAxis = m_upAxis; - + + // Fill padding with zeros to appease msan. + shapeData->m_padding[0] = 0; + shapeData->m_padding[1] = 0; + shapeData->m_padding[2] = 0; + shapeData->m_padding[3] = 0; + return "btCapsuleShapeData"; } -SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer) +SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer) { m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions); m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin; @@ -191,4 +179,4 @@ SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* data m_upAxis = dataBuffer->m_upAxis; } -#endif //BT_CAPSULE_SHAPE_H +#endif //BT_CAPSULE_SHAPE_H |