diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes')
16 files changed, 81 insertions, 39 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h index 493d635539e..1fa4995d160 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h @@ -39,7 +39,11 @@ ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape bool m_useQuantizedAabbCompression; bool m_ownsBvh; +#ifdef __clang__ + bool m_pad[11] __attribute__((unused));////need padding due to alignment +#else bool m_pad[11];////need padding due to alignment +#endif public: diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h index 7578bb258df..f8c55ace4eb 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -117,6 +117,7 @@ public: ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData* dataBuffer); }; @@ -181,4 +182,13 @@ SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSeri return "btCapsuleShapeData"; } +SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer) +{ + m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions); + m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin; + m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling); + //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis + m_upAxis = dataBuffer->m_upAxis; +} + #endif //BT_CAPSULE_SHAPE_H diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h index ff017a20671..5e86568005e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h @@ -29,12 +29,13 @@ ATTRIBUTE_ALIGNED16(class) btCollisionShape protected: int m_shapeType; void* m_userPointer; + int m_userIndex; public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0) + btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1) { } @@ -130,6 +131,16 @@ public: { return m_userPointer; } + void setUserIndex(int index) + { + m_userIndex = index; + } + + int getUserIndex() const + { + return m_userIndex; + } + virtual int calculateSerializeBufferSize() const; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index 0aa75f2bff3..e8c8c336cd2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -18,7 +18,7 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btDbvt.h" #include "LinearMath/btSerializer.h" -btCompoundShape::btCompoundShape(bool enableDynamicAabbTree) +btCompoundShape::btCompoundShape(bool enableDynamicAabbTree, const int initialChildCapacity) : 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), @@ -34,6 +34,8 @@ m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) m_dynamicAabbTree = new(mem) btDbvt(); btAssert(mem==m_dynamicAabbTree); } + + m_children.reserve(initialChildCapacity); } @@ -77,8 +79,8 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio if (m_dynamicAabbTree) { const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); - int index = m_children.size(); - child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index); + size_t index = m_children.size(); + child.m_node = m_dynamicAabbTree->insert(bounds,reinterpret_cast<void*>(index) ); } m_children.push_back(child); @@ -312,7 +314,8 @@ void btCompoundShape::createAabbTreeFromChildren() 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); + size_t index2 = index; + child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2) ); } } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h index 141034a8e8c..4eef8dba306 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h @@ -53,6 +53,7 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou /// 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 { +protected: btAlignedObjectArray<btCompoundShapeChild> m_children; btVector3 m_localAabbMin; btVector3 m_localAabbMax; @@ -64,13 +65,12 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape btScalar m_collisionMargin; -protected: btVector3 m_localScaling; public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btCompoundShape(bool enableDynamicAabbTree = true); + explicit btCompoundShape(bool enableDynamicAabbTree = true, const int initialChildCapacity = 0); virtual ~btCompoundShape(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp index 02ea5033b15..0623e351a97 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -13,9 +13,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -//#if defined (_WIN32) || defined (__i386__) -//#define BT_USE_SSE_IN_API -//#endif +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif #include "btConvexHullShape.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h" diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp index f4324c1f401..4f45319a83a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp @@ -21,6 +21,7 @@ subject to the following restrictions: #include "btConvexPolyhedron.h" #include "LinearMath/btHashMap.h" + btConvexPolyhedron::btConvexPolyhedron() { @@ -33,7 +34,7 @@ btConvexPolyhedron::~btConvexPolyhedron() inline bool IsAlmostZero(const btVector3& v) { - if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false; + if(btFabs(v.x())>1e-6 || btFabs(v.y())>1e-6 || btFabs(v.z())>1e-6) return false; return true; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index fb0d9fdb75a..b56d72917de 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -13,9 +13,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -//#if defined (_WIN32) || defined (__i386__) -//#define BT_USE_SSE_IN_API -//#endif +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif #include "btConvexShape.h" #include "btTriangleShape.h" @@ -48,7 +48,7 @@ btConvexShape::~btConvexShape() } -void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const +void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const { btVector3 localAxis = dir*trans.getBasis(); btVector3 vtx1 = trans(localGetSupportingVertex(localAxis)); @@ -56,12 +56,16 @@ void btConvexShape::project(const btTransform& trans, const btVector3& dir, btSc min = vtx1.dot(dir); max = vtx2.dot(dir); - + witnesPtMax = vtx2; + witnesPtMin = vtx1; + if(min>max) { btScalar tmp = min; min = max; max = tmp; + witnesPtMax = vtx1; + witnesPtMin = vtx2; } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h index 290cd9fd13c..875f2ac195a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h @@ -52,7 +52,8 @@ public: btScalar getMarginNonVirtual () const; void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; - virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const; + + virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; //notice that the vectors should be unit length diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 26322791d04..441a89c6bb6 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -59,15 +59,13 @@ PHY_ScalarType hdt, bool flipQuadEdges ) { // validation - btAssert(heightStickWidth > 1 && "bad width"); - btAssert(heightStickLength > 1 && "bad length"); - btAssert(heightfieldData && "null heightfield data"); + btAssert(heightStickWidth > 1);// && "bad width"); + btAssert(heightStickLength > 1);// && "bad length"); + btAssert(heightfieldData);// && "null heightfield data"); // btAssert(heightScale) -- do we care? Trust caller here - btAssert(minHeight <= maxHeight && "bad min/max height"); - btAssert(upAxis >= 0 && upAxis < 3 && - "bad upAxis--should be in range [0,2]"); - btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT && - "Bad height data type enum"); + btAssert(minHeight <= maxHeight);// && "bad min/max height"); + btAssert(upAxis >= 0 && upAxis < 3);// && "bad upAxis--should be in range [0,2]"); + btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT);// && "Bad height data type enum"); // initialize member variables m_shapeType = TERRAIN_SHAPE_PROXYTYPE; @@ -110,7 +108,7 @@ PHY_ScalarType hdt, bool flipQuadEdges default: { //need to get valid m_upAxis - btAssert(0 && "Bad m_upAxis"); + btAssert(0);// && "Bad m_upAxis"); } } @@ -365,14 +363,15 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback { //first triangle getVertex(x,j,vertices[0]); - getVertex(x+1,j,vertices[1]); - getVertex(x+1,j+1,vertices[2]); + getVertex(x, j + 1, vertices[1]); + getVertex(x + 1, j + 1, vertices[2]); callback->processTriangle(vertices,x,j); //second triangle // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman getVertex(x+1,j+1,vertices[1]); - getVertex(x,j+1,vertices[2]); - callback->processTriangle(vertices,x,j); + getVertex(x + 1, j, vertices[2]); + callback->processTriangle(vertices, x, j); + } else { //first triangle diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index 6abfdffa677..a7362ea01f4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -13,9 +13,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -//#if defined (_WIN32) || defined (__i386__) -//#define BT_USE_SSE_IN_API -//#endif +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif #include "btMultiSphereShape.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h" diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h index 2b92ab7d1b7..5ebaede4a88 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h @@ -25,7 +25,6 @@ subject to the following restrictions: ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape { btAlignedObjectArray <btMaterial*> m_materialList; - int ** m_triangleMaterials; public: diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index 9095c592d87..4854f370f73 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -12,9 +12,9 @@ subject to the following restrictions: 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. */ -//#if defined (_WIN32) || defined (__i386__) -//#define BT_USE_SSE_IN_API -//#endif +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" #include "btConvexPolyhedron.h" diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp index 38ef8f03706..d17141e3f20 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @@ -21,7 +21,7 @@ subject to the following restrictions: btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant) : btConcaveShape (), m_planeNormal(planeNormal.normalized()), m_planeConstant(planeConstant), -m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.)) +m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) { m_shapeType = STATIC_PLANE_PROXYTYPE; // btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) ); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp index 5fbed334ec1..e4de7320930 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -75,6 +75,13 @@ void btTriangleMesh::addIndex(int index) } } +void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3 ) +{ + m_indexedMeshes[0].m_numTriangles++; + addIndex( index1 ); + addIndex( index2 ); + addIndex( index3 ); +} int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices) { diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h index 0afc2321ff0..ac4afa7f6b2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h @@ -52,7 +52,10 @@ class btTriangleMesh : public btTriangleIndexVertexArray ///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes. ///In general it is better to directly use btTriangleIndexVertexArray instead. void addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2, bool removeDuplicateVertices=false); - + + ///Add a triangle using its indices. Make sure the indices are pointing within the vertices array, so add the vertices first (and to be sure, avoid removal of duplicate vertices) + void addTriangleIndices(int index1, int index2, int index3 ); + int getNumTriangles() const; virtual void preallocateVertices(int numverts); |