diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp | 121 |
1 files changed, 102 insertions, 19 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index 9c2b04d18fa..4eb860c57f1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ +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. @@ -16,14 +16,15 @@ subject to the following restrictions: #include "btCompoundShape.h" #include "btCollisionShape.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btSerializer.h" btCompoundShape::btCompoundShape(bool enableDynamicAabbTree) -: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)), -m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)), -m_collisionMargin(btScalar(0.)), -m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), +: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)), +m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)), m_dynamicAabbTree(0), -m_updateRevision(1) +m_updateRevision(1), +m_collisionMargin(btScalar(0.)), +m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) { m_shapeType = COMPOUND_SHAPE_PROXYTYPE; @@ -51,6 +52,7 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio //m_childTransforms.push_back(localTransform); //m_childShapes.push_back(shape); btCompoundShapeChild child; + child.m_node = 0; child.m_transform = localTransform; child.m_childShape = shape; child.m_childShapeType = shape->getShapeType(); @@ -83,7 +85,7 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio } -void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform) +void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb) { m_children[childIndex].m_transform = newChildTransform; @@ -93,11 +95,14 @@ void btCompoundShape::updateChildTransform(int childIndex, const btTransform& ne btVector3 localAabbMin,localAabbMax; m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax); ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); - int index = m_children.size()-1; + //int index = m_children.size()-1; m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds); } - recalculateLocalAabb(); + if (shouldRecalculateLocalAabb) + { + recalculateLocalAabb(); + } } void btCompoundShape::removeChildShapeByIndex(int childShapeIndex) @@ -109,6 +114,8 @@ void btCompoundShape::removeChildShapeByIndex(int childShapeIndex) m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node); } m_children.swap(childShapeIndex,m_children.size()-1); + if (m_dynamicAabbTree) + m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex; m_children.pop_back(); } @@ -124,14 +131,7 @@ void btCompoundShape::removeChildShape(btCollisionShape* shape) { if(m_children[i].m_childShape == shape) { - m_children.swap(i,m_children.size()-1); - m_children.pop_back(); - //remove it from the m_dynamicAabbTree too - //@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm - //so effectively, removeChildShape is broken at the moment - //m_dynamicAabbTree->remove(m_aabbProxies[i]); - //m_aabbProxies.swap(i,m_children.size()-1); - //m_aabbProxies.pop_back(); + removeChildShapeByIndex(i); } } @@ -145,8 +145,8 @@ void btCompoundShape::recalculateLocalAabb() // Recalculate the local aabb // Brute force, it iterates over all the shapes left. - m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30)); - m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); + m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); //extend the local aabbMin/aabbMax for (int j = 0; j < m_children.size(); j++) @@ -223,9 +223,13 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf for (k = 0; k < n; k++) { + btAssert(masses[k]>0); center += m_children[k].m_transform.getOrigin() * masses[k]; totalMass += masses[k]; } + + btAssert(totalMass>0); + center /= totalMass; principal.setOrigin(center); @@ -271,3 +275,82 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf +void btCompoundShape::setLocalScaling(const btVector3& scaling) +{ + + for(int i = 0; i < m_children.size(); i++) + { + btTransform childTrans = getChildTransform(i); + btVector3 childScale = m_children[i].m_childShape->getLocalScaling(); +// childScale = childScale * (childTrans.getBasis() * scaling); + childScale = childScale * scaling / m_localScaling; + m_children[i].m_childShape->setLocalScaling(childScale); + childTrans.setOrigin((childTrans.getOrigin())*scaling); + updateChildTransform(i, childTrans,false); + } + + m_localScaling = scaling; + recalculateLocalAabb(); + +} + + +void btCompoundShape::createAabbTreeFromChildren() +{ + if ( !m_dynamicAabbTree ) + { + void* mem = btAlignedAlloc(sizeof(btDbvt),16); + m_dynamicAabbTree = new(mem) btDbvt(); + btAssert(mem==m_dynamicAabbTree); + + for ( int index = 0; index < m_children.size(); index++ ) + { + btCompoundShapeChild &child = m_children[index]; + + //extend the local aabbMin/aabbMax + btVector3 localAabbMin,localAabbMax; + child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax); + + const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index); + } + } +} + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer; + btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); + + shapeData->m_collisionMargin = float(m_collisionMargin); + shapeData->m_numChildShapes = m_children.size(); + shapeData->m_childShapePtr = 0; + if (shapeData->m_numChildShapes) + { + btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes); + btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr; + shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr); + + for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++) + { + memPtr->m_childMargin = float(m_children[i].m_childMargin); + memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape); + //don't serialize shapes that already have been serialized + if (!serializer->findPointer(m_children[i].m_childShape)) + { + btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1); + const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer); + serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape); + } + + memPtr->m_childShapeType = m_children[i].m_childShapeType; + m_children[i].m_transform.serializeFloat(memPtr->m_transform); + } + serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr); + } + return "btCompoundShapeData"; +} + |