diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h | 99 |
1 files changed, 47 insertions, 52 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h index 4eef8dba306..7e2d0eb8170 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h @@ -27,45 +27,47 @@ subject to the following restrictions: //class btOptimizedBvh; struct btDbvt; -ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild +ATTRIBUTE_ALIGNED16(struct) +btCompoundShapeChild { BT_DECLARE_ALIGNED_ALLOCATOR(); - btTransform m_transform; - btCollisionShape* m_childShape; - int m_childShapeType; - btScalar m_childMargin; - struct btDbvtNode* m_node; + btTransform m_transform; + btCollisionShape* m_childShape; + int m_childShapeType; + btScalar m_childMargin; + struct btDbvtNode* m_node; }; SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2) { - return ( c1.m_transform == c2.m_transform && - c1.m_childShape == c2.m_childShape && - c1.m_childShapeType == c2.m_childShapeType && - c1.m_childMargin == c2.m_childMargin ); + return (c1.m_transform == c2.m_transform && + c1.m_childShape == c2.m_childShape && + c1.m_childShapeType == c2.m_childShapeType && + c1.m_childMargin == c2.m_childMargin); } /// The btCompoundShape allows to store multiple other btCollisionShapes /// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape. -/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. +/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. /// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25 /// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape) -ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape +ATTRIBUTE_ALIGNED16(class) +btCompoundShape : public btCollisionShape { protected: btAlignedObjectArray<btCompoundShapeChild> m_children; - btVector3 m_localAabbMin; - btVector3 m_localAabbMax; + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; - btDbvt* m_dynamicAabbTree; + btDbvt* m_dynamicAabbTree; ///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated - int m_updateRevision; + int m_updateRevision; - btScalar m_collisionMargin; + btScalar m_collisionMargin; - btVector3 m_localScaling; + btVector3 m_localScaling; public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -74,17 +76,16 @@ public: virtual ~btCompoundShape(); - void addChildShape(const btTransform& localTransform,btCollisionShape* shape); + void addChildShape(const btTransform& localTransform, btCollisionShape* shape); /// Remove all children shapes that contain the specified shape - virtual void removeChildShape(btCollisionShape* shape); + virtual void removeChildShape(btCollisionShape * shape); void removeChildShapeByIndex(int childShapeindex); - - int getNumChildShapes() const + int getNumChildShapes() const { - return int (m_children.size()); + return int(m_children.size()); } btCollisionShape* getChildShape(int index) @@ -96,18 +97,17 @@ public: return m_children[index].m_childShape; } - btTransform& getChildTransform(int index) + btTransform& getChildTransform(int index) { return m_children[index].m_transform; } - const btTransform& getChildTransform(int index) const + const btTransform& getChildTransform(int index) const { return m_children[index].m_transform; } ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree) - void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true); - + void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true); btCompoundShapeChild* getChildList() { @@ -115,40 +115,40 @@ public: } ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; /** Re-calculate the local Aabb. Is called at the end of removeChildShapes. Use this yourself if you modify the children or their transforms. */ - virtual void recalculateLocalAabb(); + virtual void recalculateLocalAabb(); - virtual void setLocalScaling(const btVector3& scaling); + virtual void setLocalScaling(const btVector3& scaling); - virtual const btVector3& getLocalScaling() const + virtual const btVector3& getLocalScaling() const { return m_localScaling; } - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; - virtual void setMargin(btScalar margin) + virtual void setMargin(btScalar margin) { m_collisionMargin = margin; } - virtual btScalar getMargin() const + virtual btScalar getMargin() const { return m_collisionMargin; } - virtual const char* getName()const + virtual const char* getName() const { return "Compound"; } - const btDbvt* getDynamicAabbTree() const + const btDbvt* getDynamicAabbTree() const { return m_dynamicAabbTree; } - - btDbvt* getDynamicAabbTree() + + btDbvt* getDynamicAabbTree() { return m_dynamicAabbTree; } @@ -160,21 +160,21 @@ public: ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform ///of the collision object by the principal transform. - void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const; - int getUpdateRevision() const + int getUpdateRevision() const { return m_updateRevision; } - 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; - - + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; }; +// clang-format off + ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btCompoundShapeChildData { @@ -197,16 +197,11 @@ struct btCompoundShapeData }; +// clang-format on -SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const { return sizeof(btCompoundShapeData); } - - - - - - -#endif //BT_COMPOUND_SHAPE_H +#endif //BT_COMPOUND_SHAPE_H |