diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h | 162 |
1 files changed, 82 insertions, 80 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h index 4a0df0d558b..ee6786c8074 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h @@ -17,155 +17,157 @@ subject to the following restrictions: #define BT_CONE_MINKOWSKI_H #include "btConvexInternalShape.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types ///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis. -ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) +btConeShape : public btConvexInternalShape { - btScalar m_sinAngle; btScalar m_radius; btScalar m_height; - int m_coneIndices[3]; + int m_coneIndices[3]; btVector3 coneLocalSupport(const btVector3& v) const; - public: BT_DECLARE_ALIGNED_ALLOCATOR(); - - btConeShape (btScalar radius,btScalar height); - - virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - btScalar getRadius() const { return m_radius;} - btScalar getHeight() const { return m_height;} + btConeShape(btScalar radius, btScalar height); + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const + btScalar getRadius() const { return m_radius; } + btScalar getHeight() const { return m_height; } + + void setRadius(const btScalar radius) + { + m_radius = radius; + } + void setHeight(const btScalar height) + { + m_height = height; + } + + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const { btTransform identity; identity.setIdentity(); - btVector3 aabbMin,aabbMax; - getAabb(identity,aabbMin,aabbMax); - - btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + btVector3 aabbMin, aabbMax; - btScalar margin = getMargin(); + getAabb(identity, aabbMin, aabbMax); // This already contains the margin + btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); - btScalar lx=btScalar(2.)*(halfExtents.x()+margin); - btScalar ly=btScalar(2.)*(halfExtents.y()+margin); - btScalar lz=btScalar(2.)*(halfExtents.z()+margin); - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; + btScalar lx = btScalar(2.) * (halfExtents.x()); + btScalar ly = btScalar(2.) * (halfExtents.y()); + btScalar lz = btScalar(2.) * (halfExtents.z()); + 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)); + inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2)); + + // inertia.x() = scaledmass * (y2+z2); + // inertia.y() = scaledmass * (x2+z2); + // inertia.z() = scaledmass * (x2+y2); + } -// inertia.x() = scaledmass * (y2+z2); -// inertia.y() = scaledmass * (x2+z2); -// inertia.z() = scaledmass * (x2+y2); + virtual const char* getName() const + { + return "Cone"; } + ///choose upAxis index + void setConeUpIndex(int upIndex); - virtual const char* getName()const - { - return "Cone"; - } - - ///choose upAxis index - void setConeUpIndex(int upIndex); - - int getConeUpIndex() const - { - return m_coneIndices[1]; - } - - virtual btVector3 getAnisotropicRollingFrictionDirection() const + int getConeUpIndex() const { - return btVector3 (0,1,0); + return m_coneIndices[1]; } - virtual void setLocalScaling(const btVector3& scaling); - - - 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 btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3(0, 1, 0); + } + + virtual void setLocalScaling(const btVector3& scaling); + + 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; }; ///btConeShape implements a Cone shape, around the X axis class btConeShapeX : public btConeShape { - public: - btConeShapeX(btScalar radius,btScalar height); +public: + btConeShapeX(btScalar radius, btScalar height); - virtual btVector3 getAnisotropicRollingFrictionDirection() const + virtual btVector3 getAnisotropicRollingFrictionDirection() const { - return btVector3 (1,0,0); + return btVector3(1, 0, 0); } //debugging - virtual const char* getName()const + virtual const char* getName() const { return "ConeX"; } - - }; ///btConeShapeZ implements a Cone shape, around the Z axis class btConeShapeZ : public btConeShape { public: - btConeShapeZ(btScalar radius,btScalar height); + btConeShapeZ(btScalar radius, btScalar height); - virtual btVector3 getAnisotropicRollingFrictionDirection() const + virtual btVector3 getAnisotropicRollingFrictionDirection() const { - return btVector3 (0,0,1); + return btVector3(0, 0, 1); } //debugging - virtual const char* getName()const + virtual const char* getName() const { return "ConeZ"; } - - }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btConeShapeData +struct btConeShapeData { - btConvexInternalShapeData m_convexInternalShapeData; - - int m_upIndex; - - char m_padding[4]; + btConvexInternalShapeData m_convexInternalShapeData; + + int m_upIndex; + + char m_padding[4]; }; -SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const { return sizeof(btConeShapeData); } ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const +SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const { - btConeShapeData* shapeData = (btConeShapeData*) dataBuffer; - - btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); - + btConeShapeData* shapeData = (btConeShapeData*)dataBuffer; + + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); + shapeData->m_upIndex = m_coneIndices[1]; - + + // 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 "btConeShapeData"; } -#endif //BT_CONE_MINKOWSKI_H - +#endif //BT_CONE_MINKOWSKI_H |