diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h | 126 |
1 files changed, 55 insertions, 71 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h index 37e04f5fc81..a28c57de4b8 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h @@ -19,39 +19,35 @@ subject to the following restrictions: #include "btConvexShape.h" #include "LinearMath/btAabbUtil2.h" - ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. ///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. ///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h -///Note that when creating small shapes (derived from btConvexInternalShape), +///Note that when creating small shapes (derived from btConvexInternalShape), ///you need to make sure to set a smaller collision margin, using the 'setMargin' API ///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape -ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape +ATTRIBUTE_ALIGNED16(class) +btConvexInternalShape : public btConvexShape { - - protected: - +protected: //local scaling. collisionMargin is not scaled ! - btVector3 m_localScaling; + btVector3 m_localScaling; + + btVector3 m_implicitShapeDimensions; - btVector3 m_implicitShapeDimensions; - - btScalar m_collisionMargin; + btScalar m_collisionMargin; - btScalar m_padding; + btScalar m_padding; btConvexInternalShape(); public: - BT_DECLARE_ALIGNED_ALLOCATOR(); virtual ~btConvexInternalShape() { - } - virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; const btVector3& getImplicitShapeDimensions() const { @@ -62,163 +58,151 @@ public: ///changing a collision shape while the body is in the world is not recommended, ///it is best to remove the body from the world, then make the change, and re-add it ///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs' - void setImplicitShapeDimensions(const btVector3& dimensions) + void setImplicitShapeDimensions(const btVector3& dimensions) { m_implicitShapeDimensions = dimensions; } - void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f) + void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f) { - btScalar safeMargin = defaultMarginMultiplier*minDimension; + btScalar safeMargin = defaultMarginMultiplier * minDimension; if (safeMargin < getMargin()) { setMargin(safeMargin); } } - void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f) + void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f) { //see http://code.google.com/p/bullet/issues/detail?id=349 //this margin check could could be added to other collision shapes too, //or add some assert/warning somewhere - btScalar minDimension=halfExtents[halfExtents.minAxis()]; + btScalar minDimension = halfExtents[halfExtents.minAxis()]; setSafeMargin(minDimension, defaultMarginMultiplier); } ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version - void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { - getAabbSlow(t,aabbMin,aabbMax); + getAabbSlow(t, aabbMin, aabbMax); } + virtual void getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; - - virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - - - virtual void setLocalScaling(const btVector3& scaling); - virtual const btVector3& getLocalScaling() const + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const { return m_localScaling; } - const btVector3& getLocalScalingNV() const + const btVector3& getLocalScalingNV() const { return m_localScaling; } - virtual void setMargin(btScalar margin) + virtual void setMargin(btScalar margin) { m_collisionMargin = margin; } - virtual btScalar getMargin() const + virtual btScalar getMargin() const { return m_collisionMargin; } - btScalar getMarginNV() const + btScalar getMarginNV() const { return m_collisionMargin; } - virtual int getNumPreferredPenetrationDirections() const + virtual int getNumPreferredPenetrationDirections() const { return 0; } - - virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const { (void)penetrationVector; (void)index; btAssert(0); } - 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; }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btConvexInternalShapeData +struct btConvexInternalShapeData { - btCollisionShapeData m_collisionShapeData; + btCollisionShapeData m_collisionShapeData; - btVector3FloatData m_localScaling; + btVector3FloatData m_localScaling; - btVector3FloatData m_implicitShapeDimensions; - - float m_collisionMargin; + btVector3FloatData m_implicitShapeDimensions; - int m_padding; + float m_collisionMargin; + int m_padding; }; - - -SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const +SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const { return sizeof(btConvexInternalShapeData); } ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const +SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const { - btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer; + btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*)dataBuffer; btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions); m_localScaling.serializeFloat(shapeData->m_localScaling); shapeData->m_collisionMargin = float(m_collisionMargin); + // Fill padding with zeros to appease msan. + shapeData->m_padding = 0; + return "btConvexInternalShapeData"; } - - - ///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations class btConvexInternalAabbCachingShape : public btConvexInternalShape { - btVector3 m_localAabbMin; - btVector3 m_localAabbMax; - bool m_isLocalAabbValid; - + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; + protected: - btConvexInternalAabbCachingShape(); - - void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + + void setCachedLocalAabb(const btVector3& aabbMin, const btVector3& aabbMax) { m_isLocalAabbValid = true; m_localAabbMin = aabbMin; m_localAabbMax = aabbMax; } - inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + inline void getCachedLocalAabb(btVector3& aabbMin, btVector3& aabbMax) const { btAssert(m_isLocalAabbValid); aabbMin = m_localAabbMin; aabbMax = m_localAabbMax; } - inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const + inline void getNonvirtualAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax, btScalar margin) const { - //lazy evaluation of local aabb btAssert(m_isLocalAabbValid); - btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); + btTransformAabb(m_localAabbMin, m_localAabbMax, margin, trans, aabbMin, aabbMax); } - -public: - - virtual void setLocalScaling(const btVector3& scaling); - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; +public: + virtual void setLocalScaling(const btVector3& scaling); - void recalcLocalAabb(); + virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; + void recalcLocalAabb(); }; -#endif //BT_CONVEX_INTERNAL_SHAPE_H +#endif //BT_CONVEX_INTERNAL_SHAPE_H |