diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp | 98 |
1 files changed, 58 insertions, 40 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index 9423505290d..c996bfcdaba 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.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. @@ -13,29 +13,31 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ + + #include "btMultiSphereShape.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h" #include "LinearMath/btQuaternion.h" +#include "LinearMath/btSerializer.h" -btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres) -:btConvexInternalShape (), m_inertiaHalfExtents(inertiaHalfExtents) +btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres) +:btConvexInternalAabbCachingShape () { m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE; - btScalar startMargin = btScalar(1e30); + //btScalar startMargin = btScalar(BT_LARGE_FLOAT); - m_numSpheres = numSpheres; - for (int i=0;i<m_numSpheres;i++) + m_localPositionArray.resize(numSpheres); + m_radiArray.resize(numSpheres); + for (int i=0;i<numSpheres;i++) { - m_localPositions[i] = positions[i]; - m_radi[i] = radi[i]; - if (radi[i] < startMargin) - startMargin = radi[i]; + m_localPositionArray[i] = positions[i]; + m_radiArray[i] = radi[i]; + } - setMargin(startMargin); - -} + recalcLocalAabb(); +} btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const @@ -43,7 +45,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons int i; btVector3 supVec(0,0,0); - btScalar maxDot(btScalar(-1e30)); + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); btVector3 vec = vec0; @@ -60,10 +62,11 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons btVector3 vtx; btScalar newDot; - const btVector3* pos = &m_localPositions[0]; - const btScalar* rad = &m_radi[0]; + const btVector3* pos = &m_localPositionArray[0]; + const btScalar* rad = &m_radiArray[0]; + int numSpheres = m_localPositionArray.size(); - for (i=0;i<m_numSpheres;i++) + for (i=0;i<numSpheres;i++) { vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); pos++; @@ -85,17 +88,17 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons for (int j=0;j<numVectors;j++) { - btScalar maxDot(btScalar(-1e30)); + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); const btVector3& vec = vectors[j]; btVector3 vtx; btScalar newDot; - const btVector3* pos = &m_localPositions[0]; - const btScalar* rad = &m_radi[0]; - - for (int i=0;i<m_numSpheres;i++) + const btVector3* pos = &m_localPositionArray[0]; + const btScalar* rad = &m_radiArray[0]; + int numSpheres = m_localPositionArray.size(); + for (int i=0;i<numSpheres;i++) { vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); pos++; @@ -121,29 +124,44 @@ void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) { //as an approximation, take the inertia of the box that bounds the spheres - btTransform ident; - ident.setIdentity(); -// btVector3 aabbMin,aabbMax; - -// getAabb(ident,aabbMin,aabbMax); + btVector3 localAabbMin,localAabbMax; + getCachedLocalAabb(localAabbMin,localAabbMax); + btVector3 halfExtents = (localAabbMax-localAabbMin)*btScalar(0.5); - btVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* btScalar(0.5); + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); - btScalar margin = CONVEX_DISTANCE_MARGIN; + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); - btScalar lx=btScalar(2.)*(halfExtents[0]+margin); - btScalar ly=btScalar(2.)*(halfExtents[1]+margin); - btScalar lz=btScalar(2.)*(halfExtents[2]+margin); - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(.08333333); +} - inertia[0] = scaledmass * (y2+z2); - inertia[1] = scaledmass * (x2+z2); - inertia[2] = scaledmass * (x2+y2); +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*) dataBuffer; + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); + + int numElem = m_localPositionArray.size(); + shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]): 0; + + shapeData->m_localPositionArraySize = numElem; + if (numElem) + { + btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius),numElem); + btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr; + for (int i=0;i<numElem;i++,memPtr++) + { + m_localPositionArray[i].serializeFloat(memPtr->m_pos); + memPtr->m_radius = float(m_radiArray[i]); + } + serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]); + } + + return "btMultiSphereShapeData"; } - |