diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes')
56 files changed, 1285 insertions, 412 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h index 4d4fbefea37..14502d485dc 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h @@ -19,7 +19,7 @@ subject to the following restrictions: #include "btPolyhedralConvexShape.h" #include "btCollisionMargin.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "LinearMath/btPoint3.h" +#include "LinearMath/btVector3.h" #include "LinearMath/btMinMax.h" ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. @@ -45,8 +45,6 @@ public: } - virtual int getShapeType() const { return BOX_SHAPE_PROXYTYPE;} - virtual btVector3 localGetSupportingVertex(const btVector3& vec) const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); @@ -82,8 +80,10 @@ public: } - btBoxShape( const btVector3& boxHalfExtents) + btBoxShape( const btVector3& boxHalfExtents) + : btPolyhedralConvexShape() { + m_shapeType = BOX_SHAPE_PROXYTYPE; btVector3 margin(getMargin(),getMargin(),getMargin()); m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; }; @@ -117,7 +117,7 @@ public: virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const { //this plane might not be aligned... btVector4 plane ; @@ -161,36 +161,30 @@ public: switch (i) { case 0: - plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.)); - plane[3] = -halfExtents.x(); + plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); break; case 1: - plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); - plane[3] = -halfExtents.x(); + plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); break; case 2: - plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); - plane[3] = -halfExtents.y(); + plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); break; case 3: - plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); - plane[3] = -halfExtents.y(); + plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); break; case 4: - plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); - plane[3] = -halfExtents.z(); + plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); break; case 5: - plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); - plane[3] = -halfExtents.z(); + plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); break; default: - assert(0); + btAssert(0); } } - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const //virtual void getEdge(int i,Edge& edge) const { int edgeVert0 = 0; @@ -261,7 +255,7 @@ public: - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const + virtual bool isInside(const btVector3& pt,btScalar tolerance) const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); @@ -312,7 +306,7 @@ public: penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); break; default: - assert(0); + btAssert(0); } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp index 819f6f7f97d..68ff5e2d7bb 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp @@ -26,6 +26,7 @@ m_bvh(0), m_useQuantizedAabbCompression(useQuantizedAabbCompression), m_ownsBvh(false) { + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; //construct bvh from meshInterface #ifndef DISABLE_BVH @@ -57,6 +58,7 @@ m_bvh(0), m_useQuantizedAabbCompression(useQuantizedAabbCompression), m_ownsBvh(false) { + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; //construct bvh from meshInterface #ifndef DISABLE_BVH @@ -141,10 +143,19 @@ void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const for (int j=2;j>=0;j--) { int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; - - btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); - - m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ()); + } } /* Perform ray vs. triangle collision here */ @@ -202,9 +213,18 @@ void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, co { int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; - btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); - - m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ()); + } } /* Perform ray vs. triangle collision here */ @@ -279,12 +299,24 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co #ifdef DEBUG_TRIANGLE_MESH printf("%d ,",graphicsindex); #endif //DEBUG_TRIANGLE_MESH - btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); - - m_triangle[j] = btVector3( - graphicsbase[0]*meshScaling.getX(), - graphicsbase[1]*meshScaling.getY(), - graphicsbase[2]*meshScaling.getZ()); + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3( + graphicsbase[0]*meshScaling.getX(), + graphicsbase[1]*meshScaling.getY(), + graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3( + btScalar(graphicsbase[0])*meshScaling.getX(), + btScalar(graphicsbase[1])*meshScaling.getY(), + btScalar(graphicsbase[2])*meshScaling.getZ()); + } #ifdef DEBUG_TRIANGLE_MESH printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z()); #endif //DEBUG_TRIANGLE_MESH diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h index 6e587340dc1..cb2c326574e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h @@ -37,7 +37,7 @@ public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {}; + btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;}; btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true); ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb @@ -50,10 +50,7 @@ public: return m_ownsBvh; } - virtual int getShapeType() const - { - return TRIANGLE_MESH_SHAPE_PROXYTYPE; - } + void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget); void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp index 26ba276b900..60a96a542f9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp @@ -19,8 +19,9 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btCollisionMargin.h" #include "LinearMath/btQuaternion.h" -btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) +btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape () { + m_shapeType = CAPSULE_SHAPE_PROXYTYPE; m_upAxis = 1; m_implicitShapeDimensions.setValue(radius,0.5f*height,radius); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h index d4b046d40c9..828c1b3a565 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -30,7 +30,7 @@ protected: protected: ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. - btCapsuleShape() {}; + btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;}; public: btCapsuleShape(btScalar radius,btScalar height); @@ -43,15 +43,13 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; } - virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { btVector3 halfExtents(getRadius(),getRadius(),getRadius()); halfExtents[m_upAxis] = getRadius() + getHalfHeight(); halfExtents += btVector3(getMargin(),getMargin(),getMargin()); btMatrix3x3 abs_b = t.getBasis().absolute(); - btPoint3 center = t.getOrigin(); + btVector3 center = t.getOrigin(); btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents)); aabbMin = center - extent; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp index 39e621aa946..d242cba1b72 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp @@ -16,6 +16,9 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btCollisionShape.h" +btScalar gContactThresholdFactor=btScalar(0.02); + + /* Make sure this dummy function never changes so that it can be used by probes that are checking whether the @@ -42,8 +45,13 @@ void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con center = (aabbMin+aabbMax)*btScalar(0.5); } +btScalar btCollisionShape::getContactBreakingThreshold() const +{ + return getAngularMotionDisc() * gContactThresholdFactor; +} btScalar btCollisionShape::getAngularMotionDisc() const { + ///@todo cache this value, to improve performance btVector3 center; btScalar disc; getBoundingSphere(center,disc); @@ -65,7 +73,7 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b // add linear motion btVector3 linMotion = linvel*timeStep; - //todo: simd would have a vector max/min operation, instead of per-element access + ///@todo: simd would have a vector max/min operation, instead of per-element access if (linMotion.x() > btScalar(0.)) temporalAabbMaxx += linMotion.x(); else diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h index 3a352b90777..1f4b9bec647 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h @@ -19,20 +19,21 @@ subject to the following restrictions: #include "LinearMath/btTransform.h" #include "LinearMath/btVector3.h" #include "LinearMath/btMatrix3x3.h" -#include "LinearMath/btPoint3.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. class btCollisionShape { - +protected: + int m_shapeType; void* m_userPointer; public: - btCollisionShape() : m_userPointer(0) + btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0) { } + virtual ~btCollisionShape() { } @@ -45,6 +46,8 @@ public: ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. virtual btScalar getAngularMotionDisc() const; + virtual btScalar getContactBreakingThreshold() const; + ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) ///result is conservative @@ -76,7 +79,7 @@ public: return btBroadphaseProxy::isInfinite(getShapeType()); } - virtual int getShapeType() const=0; + virtual void setLocalScaling(const btVector3& scaling) =0; virtual const btVector3& getLocalScaling() const =0; virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0; @@ -87,13 +90,13 @@ public: #endif //__SPU__ - + int getShapeType() const { return m_shapeType; } virtual void setMargin(btScalar margin) = 0; virtual btScalar getMargin() const = 0; ///optional user data pointer - void setUserPointer(void* userPtr) + void setUserPointer(void* userPtr) { m_userPointer = userPtr; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index 997361a5069..9c2b04d18fa 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -17,16 +17,22 @@ subject to the following restrictions: #include "btCollisionShape.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" -btCompoundShape::btCompoundShape() -:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)), +btCompoundShape::btCompoundShape(bool enableDynamicAabbTree) +: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)), m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)), m_collisionMargin(btScalar(0.)), m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), -m_dynamicAabbTree(0) +m_dynamicAabbTree(0), +m_updateRevision(1) { - void* mem = btAlignedAlloc(sizeof(btDbvt),16); - m_dynamicAabbTree = new(mem) btDbvt(); - btAssert(mem==m_dynamicAabbTree); + m_shapeType = COMPOUND_SHAPE_PROXYTYPE; + + if (enableDynamicAabbTree) + { + void* mem = btAlignedAlloc(sizeof(btDbvt),16); + m_dynamicAabbTree = new(mem) btDbvt(); + btAssert(mem==m_dynamicAabbTree); + } } @@ -41,6 +47,7 @@ btCompoundShape::~btCompoundShape() void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape) { + m_updateRevision++; //m_childTransforms.push_back(localTransform); //m_childShapes.push_back(shape); btCompoundShapeChild child; @@ -49,6 +56,7 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio child.m_childShapeType = shape->getShapeType(); child.m_childMargin = shape->getMargin(); + //extend the local aabbMin/aabbMax btVector3 localAabbMin,localAabbMax; shape->getAabb(localTransform,localAabbMin,localAabbMax); @@ -72,10 +80,29 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio } m_children.push_back(child); + +} + +void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform) +{ + m_children[childIndex].m_transform = newChildTransform; + + if (m_dynamicAabbTree) + { + ///update the dynamic aabb tree + btVector3 localAabbMin,localAabbMax; + m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax); + ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + int index = m_children.size()-1; + m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds); + } + + recalculateLocalAabb(); } void btCompoundShape::removeChildShapeByIndex(int childShapeIndex) { + m_updateRevision++; btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size()); if (m_dynamicAabbTree) { @@ -86,8 +113,11 @@ void btCompoundShape::removeChildShapeByIndex(int childShapeIndex) } + + void btCompoundShape::removeChildShape(btCollisionShape* shape) { + m_updateRevision++; // Find the children containing the shape specified, and remove those children. //note: there might be multiple children using the same shape! for(int i = m_children.size()-1; i >= 0 ; i--) @@ -97,6 +127,8 @@ void btCompoundShape::removeChildShape(btCollisionShape* shape) m_children.swap(i,m_children.size()-1); m_children.pop_back(); //remove it from the m_dynamicAabbTree too + //@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm + //so effectively, removeChildShape is broken at the moment //m_dynamicAabbTree->remove(m_aabbProxies[i]); //m_aabbProxies.swap(i,m_children.size()-1); //m_aabbProxies.pop_back(); @@ -112,6 +144,7 @@ void btCompoundShape::recalculateLocalAabb() { // Recalculate the local aabb // Brute force, it iterates over all the shapes left. + m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30)); m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); @@ -134,19 +167,27 @@ void btCompoundShape::recalculateLocalAabb() void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const { btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); - localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); + + //avoid an illegal AABB when there are no children + if (!m_children.size()) + { + localHalfExtents.setValue(0,0,0); + localCenter.setValue(0,0,0); + } + localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); + btMatrix3x3 abs_b = trans.getBasis().absolute(); - btPoint3 center = trans(localCenter); + btVector3 center = trans(localCenter); btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), abs_b[1].dot(localHalfExtents), abs_b[2].dot(localHalfExtents)); aabbMin = center-extent; aabbMax = center+extent; - + } void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const @@ -178,7 +219,9 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf btScalar totalMass = 0; btVector3 center(0, 0, 0); - for (int k = 0; k < n; k++) + int k; + + for (k = 0; k < n; k++) { center += m_children[k].m_transform.getOrigin() * masses[k]; totalMass += masses[k]; @@ -187,7 +230,7 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf principal.setOrigin(center); btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0); - for (int k = 0; k < n; k++) + for ( k = 0; k < n; k++) { btVector3 i; m_children[k].m_childShape->calculateLocalInertia(masses[k], i); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h index 3624749f768..434860c8633 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h @@ -46,23 +46,26 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou c1.m_childMargin == c2.m_childMargin ); } -/// btCompoundShape allows to store multiple other btCollisionShapes +/// 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. +/// @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 { - //btAlignedObjectArray<btTransform> m_childTransforms; - //btAlignedObjectArray<btCollisionShape*> m_childShapes; btAlignedObjectArray<btCompoundShapeChild> m_children; btVector3 m_localAabbMin; btVector3 m_localAabbMax; - //btOptimizedBvh* m_aabbTree; btDbvt* m_dynamicAabbTree; + ///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated + int m_updateRevision; + public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btCompoundShape(); + btCompoundShape(bool enableDynamicAabbTree = true); virtual ~btCompoundShape(); @@ -88,15 +91,18 @@ 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); + btCompoundShapeChild* getChildList() { @@ -121,8 +127,6 @@ public: virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;} - virtual void setMargin(btScalar margin) { m_collisionMargin = margin; @@ -151,6 +155,10 @@ public: ///of the collision object by the principal transform. void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + int getUpdateRevision() const + { + return m_updateRevision; + } private: btScalar m_collisionMargin; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h index f3f57206ab7..30065d55a12 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h @@ -20,6 +20,16 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types #include "btTriangleCallback.h" +/// PHY_ScalarType enumerates possible scalar types. +/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use +typedef enum PHY_ScalarType { + PHY_FLOAT, + PHY_DOUBLE, + PHY_INTEGER, + PHY_SHORT, + PHY_FIXEDPOINT88, + PHY_UCHAR +} PHY_ScalarType; ///The btConcaveShape class provides an interface for non-moving (static) concave shapes. ///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape. diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp index 207b3024bc3..d887be61ada 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp @@ -14,14 +14,14 @@ subject to the following restrictions: */ #include "btConeShape.h" -#include "LinearMath/btPoint3.h" -btConeShape::btConeShape (btScalar radius,btScalar height): +btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (), m_radius (radius), m_height(height) { + m_shapeType = CONE_SHAPE_PROXYTYPE; setConeUpIndex(1); btVector3 halfExtents; m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height)); @@ -60,7 +60,7 @@ void btConeShape::setConeUpIndex(int upIndex) m_coneIndices[2] = 1; break; default: - assert(0); + btAssert(0); }; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h index 685369742e4..1869893f37a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h @@ -69,9 +69,6 @@ public: } - - virtual int getShapeType() const { return CONE_SHAPE_PROXYTYPE; } - virtual const char* getName()const { return "Cone"; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp index 2596858bc3a..2b067367767 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -19,16 +19,17 @@ subject to the following restrictions: -btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) +btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape () { - m_points.resize(numPoints); + m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE; + m_unscaledPoints.resize(numPoints); unsigned char* pointsBaseAddress = (unsigned char*)points; for (int i=0;i<numPoints;i++) { - btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride); - m_points[i] = point[0]; + btVector3* point = (btVector3*)(pointsBaseAddress + i*stride); + m_unscaledPoints[i] = point[0]; } recalcLocalAabb(); @@ -43,9 +44,9 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling) recalcLocalAabb(); } -void btConvexHullShape::addPoint(const btPoint3& point) +void btConvexHullShape::addPoint(const btVector3& point) { - m_points.push_back(point); + m_unscaledPoints.push_back(point); recalcLocalAabb(); } @@ -67,9 +68,9 @@ btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVecto } - for (int i=0;i<m_points.size();i++) + for (int i=0;i<m_unscaledPoints.size();i++) { - btPoint3 vtx = m_points[i] * m_localScaling; + btVector3 vtx = m_unscaledPoints[i] * m_localScaling; newDot = vec.dot(vtx); if (newDot > maxDot) @@ -91,9 +92,9 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const supportVerticesOut[i][3] = btScalar(-1e30); } } - for (int i=0;i<m_points.size();i++) + for (int i=0;i<m_unscaledPoints.size();i++) { - btPoint3 vtx = m_points[i] * m_localScaling; + btVector3 vtx = getScaledPoint(i); for (int j=0;j<numVectors;j++) { @@ -144,26 +145,26 @@ btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo int btConvexHullShape::getNumVertices() const { - return m_points.size(); + return m_unscaledPoints.size(); } int btConvexHullShape::getNumEdges() const { - return m_points.size(); + return m_unscaledPoints.size(); } -void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const +void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const { - int index0 = i%m_points.size(); - int index1 = (i+1)%m_points.size(); - pa = m_points[index0]*m_localScaling; - pb = m_points[index1]*m_localScaling; + int index0 = i%m_unscaledPoints.size(); + int index1 = (i+1)%m_unscaledPoints.size(); + pa = getScaledPoint(index0); + pb = getScaledPoint(index1); } -void btConvexHullShape::getVertex(int i,btPoint3& vtx) const +void btConvexHullShape::getVertex(int i,btVector3& vtx) const { - vtx = m_points[i]*m_localScaling; + vtx = getScaledPoint(i); } int btConvexHullShape::getNumPlanes() const @@ -171,16 +172,16 @@ int btConvexHullShape::getNumPlanes() const return 0; } -void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const +void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const { btAssert(0); } //not yet -bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const +bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const { - assert(0); + btAssert(0); return false; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h index 4773de2dc51..baf074be6c3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -24,7 +24,7 @@ subject to the following restrictions: ///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex. ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape { - btAlignedObjectArray<btPoint3> m_points; + btAlignedObjectArray<btVector3> m_unscaledPoints; public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -33,23 +33,38 @@ public: ///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. ///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. ///btConvexHullShape make an internal copy of the points. - btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3)); + btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3)); - void addPoint(const btPoint3& point); + void addPoint(const btVector3& point); - btPoint3* getPoints() + + btVector3* getUnscaledPoints() + { + return &m_unscaledPoints[0]; + } + + const btVector3* getUnscaledPoints() const + { + return &m_unscaledPoints[0]; + } + + ///getPoints is obsolete, please use getUnscaledPoints + const btVector3* getPoints() const { - return &m_points[0]; + return getUnscaledPoints(); } - const btPoint3* getPoints() const + + + + SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const { - return &m_points[0]; + return m_unscaledPoints[i] * m_localScaling; } - int getNumPoints() const + SIMD_FORCE_INLINE int getNumPoints() const { - return m_points.size(); + return m_unscaledPoints.size(); } virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; @@ -57,7 +72,6 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; } //debugging virtual const char* getName()const {return "Convex";} @@ -65,11 +79,11 @@ public: virtual int getNumVertices() const; virtual int getNumEdges() const; - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const; - virtual void getVertex(int i,btPoint3& vtx) const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; virtual int getNumPlanes() const; - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const; - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; ///in case we receive negative scaling virtual void setLocalScaling(const btVector3& scaling); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp index fb81c8a5bde..bfb741310e1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp @@ -17,6 +17,7 @@ subject to the following restrictions: #include "btConvexInternalShape.h" + btConvexInternalShape::btConvexInternalShape() : m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), m_collisionMargin(CONVEX_DISTANCE_MARGIN) @@ -48,7 +49,8 @@ void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAa tmp = trans(localGetSupportingVertex(vec*trans.getBasis())); minAabb[i] = tmp[i]-margin; } -}; +} + btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const @@ -70,6 +72,7 @@ btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)c return supVertex; #else + btAssert(0); return btVector3(0,0,0); #endif //__SPU__ diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h index 9388ccf31f2..bab720d7b6d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h @@ -19,23 +19,18 @@ class btConvexInternalShape : public btConvexShape btScalar m_padding; + btConvexInternalShape(); + public: - btConvexInternalShape(); + virtual ~btConvexInternalShape() { } - virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; -#ifndef __SPU__ - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0; - - //notice that the vectors should be unit length - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; -#endif //#ifndef __SPU__ const btVector3& getImplicitShapeDimensions() const { diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp new file mode 100644 index 00000000000..4ab5d692945 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp @@ -0,0 +1,156 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +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. +*/ +#include "btConvexPointCloudShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" + +void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; + recalcLocalAabb(); +} + +#ifndef __SPU__ +btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + btScalar newDot,maxDot = btScalar(-1e30); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + + + for (int i=0;i<m_numPoints;i++) + { + btVector3 vtx = getScaledPoint(i); + + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return supVec; +} + +void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + btScalar newDot; + //use 'w' component of supportVerticesOut? + { + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i][3] = btScalar(-1e30); + } + } + for (int i=0;i<m_numPoints;i++) + { + btVector3 vtx = getScaledPoint(i); + + for (int j=0;j<numVectors;j++) + { + const btVector3& vec = vectors[j]; + + newDot = vec.dot(vtx); + if (newDot > supportVerticesOut[j][3]) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = vtx; + supportVerticesOut[j][3] = newDot; + } + } + } + + + +} + + + +btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + +#endif + + + + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo +int btConvexPointCloudShape::getNumVertices() const +{ + return m_numPoints; +} + +int btConvexPointCloudShape::getNumEdges() const +{ + return 0; +} + +void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const +{ + btAssert (0); +} + +void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const +{ + vtx = m_unscaledPoints[i]*m_localScaling; +} + +int btConvexPointCloudShape::getNumPlanes() const +{ + return 0; +} + +void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + + btAssert(0); +} + +//not yet +bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h new file mode 100644 index 00000000000..7e1c13b29c1 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h @@ -0,0 +1,96 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +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. +*/ + +#ifndef BT_CONVEX_POINT_CLOUD_SHAPE_H +#define BT_CONVEX_POINT_CLOUD_SHAPE_H + +#include "btPolyhedralConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" + +///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices. +ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape +{ + btVector3* m_unscaledPoints; + int m_numPoints; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true) + { + m_localScaling = localScaling; + m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE; + m_unscaledPoints = points; + m_numPoints = numPoints; + + if (computeAabb) + recalcLocalAabb(); + } + + void setPoints (btVector3* points, int numPoints, bool computeAabb = true) + { + m_unscaledPoints = points; + m_numPoints = numPoints; + + if (computeAabb) + recalcLocalAabb(); + } + + SIMD_FORCE_INLINE btVector3* getUnscaledPoints() + { + return m_unscaledPoints; + } + + SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const + { + return m_unscaledPoints; + } + + SIMD_FORCE_INLINE int getNumPoints() const + { + return m_numPoints; + } + + SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const + { + return m_unscaledPoints[index] * m_localScaling; + } + +#ifndef __SPU__ + 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; +#endif + + + //debugging + virtual const char* getName()const {return "ConvexPointCloud";} + + virtual int getNumVertices() const; + virtual int getNumEdges() const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + + ///in case we receive negative scaling + virtual void setLocalScaling(const btVector3& scaling); +}; + + +#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 7afcccf8b03..7e67696f4c7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -14,5 +14,366 @@ subject to the following restrictions: */ #include "btConvexShape.h" +#include "btTriangleShape.h" +#include "btSphereShape.h" +#include "btCylinderShape.h" +#include "btCapsuleShape.h" +#include "btConvexHullShape.h" +#include "btConvexPointCloudShape.h" +btConvexShape::btConvexShape () +{ +} +btConvexShape::~btConvexShape() +{ + +} + + + +static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling) +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + btScalar newDot,maxDot = btScalar(-1e30); + + btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ()); + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + + + for (int i=0;i<numPoints;i++) + { + btVector3 vtx = points[i] * localScaling; + + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()); +} + +btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + return btVector3(0,0,0); + } + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + const btVector3& halfExtents = convexShape->getImplicitShapeDimensions(); + + return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()), + btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()), + btFsels(localDir.z(), halfExtents.z(), -halfExtents.z())); + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ()); + btVector3* vertices = &triangleShape->m_vertices1[0]; + btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2])); + btVector3 sup = vertices[dots.maxAxis()]; + return btVector3(sup.getX(),sup.getY(),sup.getZ()); + } + case CYLINDER_SHAPE_PROXYTYPE: + { + btCylinderShape* cylShape = (btCylinderShape*)this; + //mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis) + + btVector3 halfExtents = cylShape->getImplicitShapeDimensions(); + btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ()); + int cylinderUpAxis = cylShape->getUpAxis(); + int XX(1),YY(0),ZZ(2); + + switch (cylinderUpAxis) + { + case 0: + { + XX = 1; + YY = 0; + ZZ = 2; + } + break; + case 1: + { + XX = 0; + YY = 1; + ZZ = 2; + } + break; + case 2: + { + XX = 0; + YY = 2; + ZZ = 1; + + } + break; + default: + btAssert(0); + break; + }; + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } else { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } + } + case CAPSULE_SHAPE_PROXYTYPE: + { + btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ()); + + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + btScalar halfHeight = capsuleShape->getHalfHeight(); + int capsuleUpAxis = capsuleShape->getUpAxis(); + + btScalar radius = capsuleShape->getRadius(); + btVector3 supVec(0,0,0); + + btScalar maxDot(btScalar(-1e30)); + + btVector3 vec = vec0; + btScalar lenSqr = vec.length2(); + if (lenSqr < btScalar(0.0001)) + { + vec.setValue(1,0,0); + } else + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + vec *= rlen; + } + btVector3 vtx; + btScalar newDot; + { + btVector3 pos(0,0,0); + pos[capsuleUpAxis] = halfHeight; + + //vtx = pos +vec*(radius); + vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV(); + newDot = vec.dot(vtx); + + + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + { + btVector3 pos(0,0,0); + pos[capsuleUpAxis] = -halfHeight; + + //vtx = pos +vec*(radius); + vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()); + } + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + { + btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this; + btVector3* points = convexPointCloudShape->getUnscaledPoints (); + int numPoints = convexPointCloudShape->getNumPoints (); + return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV()); + } + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btConvexHullShape* convexHullShape = (btConvexHullShape*)this; + btVector3* points = convexHullShape->getUnscaledPoints(); + int numPoints = convexHullShape->getNumPoints (); + return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV()); + } + default: +#ifndef __SPU__ + return this->localGetSupportingVertexWithoutMargin (localDir); +#else + btAssert (0); +#endif + } + + // should never reach here + btAssert (0); + return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f)); +} + +btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const +{ + btVector3 localDirNorm = localDir; + if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + localDirNorm.normalize (); + + return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm; +} + +/* TODO: This should be bumped up to btCollisionShape () */ +btScalar btConvexShape::getMarginNonVirtual () const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + btSphereShape* sphereShape = (btSphereShape*)this; + return sphereShape->getRadius (); + } + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + return convexShape->getMarginNV (); + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + return triangleShape->getMarginNV (); + } + case CYLINDER_SHAPE_PROXYTYPE: + { + btCylinderShape* cylShape = (btCylinderShape*)this; + return cylShape->getMarginNV(); + } + case CAPSULE_SHAPE_PROXYTYPE: + { + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + return capsuleShape->getMarginNV(); + } + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + /* fall through */ + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this; + return convexHullShape->getMarginNV(); + } + default: +#ifndef __SPU__ + return this->getMargin (); +#else + btAssert (0); +#endif + } + + // should never reach here + btAssert (0); + return btScalar(0.0f); +} + +void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + btSphereShape* sphereShape = (btSphereShape*)this; + btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX(); + btScalar margin = radius + sphereShape->getMarginNonVirtual(); + const btVector3& center = t.getOrigin(); + btVector3 extent(margin,margin,margin); + aabbMin = center - extent; + aabbMax = center + extent; + } + break; + case CYLINDER_SHAPE_PROXYTYPE: + /* fall through */ + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + btScalar margin=convexShape->getMarginNonVirtual(); + btVector3 halfExtents = convexShape->getImplicitShapeDimensions(); + halfExtents += btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents)); + + aabbMin = center - extent; + aabbMax = center + extent; + break; + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + btScalar margin = triangleShape->getMarginNonVirtual(); + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + + btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()); + + btVector3 tmp = t(sv); + aabbMax[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis())); + aabbMin[i] = tmp[i]-margin; + } + } + break; + case CAPSULE_SHAPE_PROXYTYPE: + { + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius()); + int m_upAxis = capsuleShape->getUpAxis(); + halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight(); + halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual()); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents)); + aabbMin = center - extent; + aabbMax = center + extent; + } + break; + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this; + btScalar margin = convexHullShape->getMarginNonVirtual(); + convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin); + } + break; + default: +#ifndef __SPU__ + this->getAabb (t, aabbMin, aabbMax); +#else + btAssert (0); +#endif + break; + } + + // should never reach here + btAssert (0); +} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h index e4eb7f6dbf6..0cc7b349521 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h @@ -24,8 +24,6 @@ subject to the following restrictions: #include "btCollisionMargin.h" #include "LinearMath/btAlignedAllocator.h" -//todo: get rid of this btConvexCastResult thing! -struct btConvexCastResult; #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10 /// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. @@ -38,20 +36,25 @@ public: BT_DECLARE_ALIGNED_ALLOCATOR(); - virtual ~btConvexShape() - { + btConvexShape (); - } + virtual ~btConvexShape(); + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const = 0; + + //////// + #ifndef __SPU__ + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0; + #endif //#ifndef __SPU__ + + btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const; + btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const; + btScalar getMarginNonVirtual () const; + void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; - virtual btVector3 localGetSupportingVertex(const btVector3& vec)const =0; -#ifndef __SPU__ - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0; //notice that the vectors should be unit length virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; -#endif //#ifndef __SPU__ - ///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 =0; @@ -69,6 +72,9 @@ public: virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0; + + + }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp index 02a293e82ba..4bd986bb7f7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp @@ -20,8 +20,9 @@ subject to the following restrictions: btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb) -:m_stridingMesh(meshInterface) +: btPolyhedralConvexShape(), m_stridingMesh(meshInterface) { + m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; if ( calcAabb ) recalcLocalAabb(); } @@ -107,7 +108,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi } } - //todo: could do the batch inside the callback! + ///@todo: could do the batch inside the callback! for (int j=0;j<numVectors;j++) @@ -162,12 +163,12 @@ int btConvexTriangleMeshShape::getNumEdges() const return 0; } -void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const +void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const { btAssert(0); } -void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const +void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const { btAssert(0); } @@ -177,13 +178,13 @@ int btConvexTriangleMeshShape::getNumPlanes() const return 0; } -void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int ) const +void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const { btAssert(0); } //not yet -bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const +bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const { btAssert(0); return false; @@ -268,15 +269,12 @@ void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& pri btVector3 a = triangle[0] - center; btVector3 b = triangle[1] - center; btVector3 c = triangle[2] - center; - btVector3 abc = a + b + c; btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6); for (int j = 0; j < 3; j++) { for (int k = 0; k <= j; k++) { - i[j][k] = i[k][j] = volNeg * (center[j] * center[k] - + btScalar(0.25) * (center[j] * abc[k] + center[k] * abc[j]) - + btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j])); } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h index 6ff0bf5d43b..9d7e39fce69 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h @@ -29,18 +29,16 @@ public: virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; } - //debugging virtual const char* getName()const {return "ConvexTrimesh";} virtual int getNumVertices() const; virtual int getNumEdges() const; - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const; - virtual void getVertex(int i,btPoint3& vtx) const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; virtual int getNumPlanes() const; - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const; - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; virtual void setLocalScaling(const btVector3& scaling); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp index 3afef1c7550..c9fa907edf3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp @@ -13,12 +13,12 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ #include "btCylinderShape.h" -#include "LinearMath/btPoint3.h" btCylinderShape::btCylinderShape (const btVector3& halfExtents) :btBoxShape(halfExtents), m_upAxis(1) { + m_shapeType = CYLINDER_SHAPE_PROXYTYPE; recalcLocalAabb(); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h index 30938acf7c7..bda74a8612d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h @@ -62,11 +62,7 @@ public: //use box inertia // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - virtual int getShapeType() const - { - return CYLINDER_SHAPE_PROXYTYPE; - } - + int getUpAxis() const { return m_upAxis; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp index 6954aad7917..8387b9584bb 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp @@ -19,8 +19,9 @@ subject to the following restrictions: #include "btCollisionShape.h" -btEmptyShape::btEmptyShape() +btEmptyShape::btEmptyShape() : btConcaveShape () { + m_shapeType = EMPTY_SHAPE_PROXYTYPE; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h index d7d78407b61..8720d53ae63 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h @@ -51,14 +51,14 @@ public: virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - virtual int getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;} - - virtual const char* getName()const { return "Empty"; } + virtual void processAllTriangles(btTriangleCallback* ,const btVector3& ,const btVector3& ) const + { + } protected: btVector3 m_localScaling; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index a291d6b7ce7..7d4875d8037 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -18,71 +18,107 @@ subject to the following restrictions: #include "LinearMath/btTransformUtil.h" -btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) -: m_heightStickWidth(heightStickWidth), -m_heightStickLength(heightStickLength), -m_maxHeight(maxHeight), -m_width((btScalar)heightStickWidth-1), -m_length((btScalar)heightStickLength-1), -m_heightfieldDataUnknown(heightfieldData), -m_useFloatData(useFloatData), -m_flipQuadEdges(flipQuadEdges), -m_useDiamondSubdivision(false), -m_upAxis(upAxis), -m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) + +btHeightfieldTerrainShape::btHeightfieldTerrainShape +( +int heightStickWidth, int heightStickLength, void* heightfieldData, +btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis, +PHY_ScalarType hdt, bool flipQuadEdges +) { + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, hdt, + flipQuadEdges); +} + - btScalar quantizationMargin = 1.f; +btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) +{ + // legacy constructor: support only float or unsigned char, + // and min height is zero + PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR; + btScalar minHeight = 0.0; + + // previously, height = uchar * maxHeight / 65535. + // So to preserve legacy behavior, heightScale = maxHeight / 65535 + btScalar heightScale = maxHeight / 65535; + + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, hdt, + flipQuadEdges); +} - //enlarge the AABB to avoid division by zero when initializing the quantization values - btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin); - btVector3 halfExtents(0,0,0); +void btHeightfieldTerrainShape::initialize +( +int heightStickWidth, int heightStickLength, void* heightfieldData, +btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, +PHY_ScalarType hdt, bool flipQuadEdges +) +{ + // validation + 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"); + + // initialize member variables + m_shapeType = TERRAIN_SHAPE_PROXYTYPE; + m_heightStickWidth = heightStickWidth; + m_heightStickLength = heightStickLength; + m_minHeight = minHeight; + m_maxHeight = maxHeight; + m_width = (btScalar) (heightStickWidth - 1); + m_length = (btScalar) (heightStickLength - 1); + m_heightScale = heightScale; + m_heightfieldDataUnknown = heightfieldData; + m_heightDataType = hdt; + m_flipQuadEdges = flipQuadEdges; + m_useDiamondSubdivision = false; + m_upAxis = upAxis; + m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.)); + + // determine min/max axis-aligned bounding box (aabb) values switch (m_upAxis) { case 0: { - halfExtents.setValue( - btScalar(m_maxHeight), - btScalar(m_width), //?? don't know if this should change - btScalar(m_length)); + m_localAabbMin.setValue(m_minHeight, 0, 0); + m_localAabbMax.setValue(m_maxHeight, m_width, m_length); break; } case 1: { - halfExtents.setValue( - btScalar(m_width), - btScalar(m_maxHeight), - btScalar(m_length)); + m_localAabbMin.setValue(0, m_minHeight, 0); + m_localAabbMax.setValue(m_width, m_maxHeight, m_length); break; }; case 2: { - halfExtents.setValue( - btScalar(m_width), - btScalar(m_length), - btScalar(m_maxHeight) - ); + m_localAabbMin.setValue(0, 0, m_minHeight); + m_localAabbMax.setValue(m_width, m_length, m_maxHeight); break; } default: { //need to get valid m_upAxis - btAssert(0); + btAssert(0 && "Bad m_upAxis"); } } - halfExtents*= btScalar(0.5); - - m_localAabbMin = -halfExtents - clampValue; - m_localAabbMax = halfExtents + clampValue; - btVector3 aabbSize = m_localAabbMax - m_localAabbMin; - + // remember origin (defined as exact middle of aabb) + m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax); } + btHeightfieldTerrainShape::~btHeightfieldTerrainShape() { } @@ -92,57 +128,80 @@ btHeightfieldTerrainShape::~btHeightfieldTerrainShape() void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const { btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5); - halfExtents += btVector3(getMargin(),getMargin(),getMargin()); + + btVector3 localOrigin(0, 0, 0); + localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5); + localOrigin *= m_localScaling; btMatrix3x3 abs_b = t.getBasis().absolute(); - btPoint3 center = t.getOrigin(); + btVector3 center = t.getOrigin(); btVector3 extent = btVector3(abs_b[0].dot(halfExtents), abs_b[1].dot(halfExtents), abs_b[2].dot(halfExtents)); - + extent += btVector3(getMargin(),getMargin(),getMargin()); aabbMin = center - extent; aabbMax = center + extent; - - } -btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const + +/// This returns the "raw" (user's initial) height, not the actual height. +/// The actual height needs to be adjusted to be relative to the center +/// of the heightfield's AABB. +btScalar +btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const { btScalar val = 0.f; - if (m_useFloatData) + switch (m_heightDataType) { - val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x]; - } else - { - //assume unsigned short int - unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x]; - val = heightFieldValue* (m_maxHeight/btScalar(65535)); + case PHY_FLOAT: + { + val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x]; + break; + } + + case PHY_UCHAR: + { + unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x]; + val = heightFieldValue * m_heightScale; + break; + } + + case PHY_SHORT: + { + short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x]; + val = hfValue * m_heightScale; + break; + } + + default: + { + btAssert(!"Bad m_heightDataType"); + } } + return val; } - +/// this returns the vertex in bullet-local coordinates void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const { - btAssert(x>=0); btAssert(y>=0); btAssert(x<m_heightStickWidth); btAssert(y<m_heightStickLength); - - btScalar height = getHeightFieldValue(x,y); + btScalar height = getRawHeightFieldValue(x,y); switch (m_upAxis) { case 0: { vertex.setValue( - height, + height - m_localOrigin.getX(), (-m_width/btScalar(2.0)) + x, (-m_length/btScalar(2.0) ) + y ); @@ -152,7 +211,7 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const { vertex.setValue( (-m_width/btScalar(2.0)) + x, - height, + height - m_localOrigin.getY(), (-m_length/btScalar(2.0)) + y ); break; @@ -162,7 +221,7 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const vertex.setValue( (-m_width/btScalar(2.0)) + x, (-m_length/btScalar(2.0)) + y, - height + height - m_localOrigin.getZ() ); break; } @@ -174,45 +233,76 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const } vertex*=m_localScaling; - } + +static inline int +getQuantized +( +btScalar x +) +{ + if (x < 0.0) { + return (int) (x - 0.5); + } + return (int) (x + 0.5); +} + + + +/// given input vector, return quantized version +/** + This routine is basically determining the gridpoint indices for a given + input vector, answering the question: "which gridpoint is closest to the + provided point?". + + "with clamp" means that we restrict the point to be in the heightfield's + axis-aligned bounding box. + */ void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const { btVector3 clampedPoint(point); clampedPoint.setMax(m_localAabbMin); clampedPoint.setMin(m_localAabbMax); - btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization; - - //TODO: optimization: check out how to removed this btFabs + out[0] = getQuantized(clampedPoint.getX()); + out[1] = getQuantized(clampedPoint.getY()); + out[2] = getQuantized(clampedPoint.getZ()); - out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) ); - out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) ); - out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) ); - } + +/// process all triangles within the provided axis-aligned bounding box +/** + basic algorithm: + - convert input aabb to local coordinates (scale down and shift for local origin) + - convert input aabb to a range of heightfield grid points (quantize) + - iterate over all triangles in that subset of the grid + */ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const { - (void)callback; - (void)aabbMax; - (void)aabbMin; + // scale down the input aabb's so they are in local (non-scaled) coordinates + btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); + btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); - //quantize the aabbMin and aabbMax, and adjust the start/end ranges + // account for local origin + localAabbMin += m_localOrigin; + localAabbMax += m_localOrigin; + //quantize the aabbMin and aabbMax, and adjust the start/end ranges int quantizedAabbMin[3]; int quantizedAabbMax[3]; - - btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); - btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); - quantizeWithClamp(quantizedAabbMin, localAabbMin,0); quantizeWithClamp(quantizedAabbMax, localAabbMax,1); - + // expand the min/max quantized values + // this is to catch the case where the input aabb falls between grid points! + for (int i = 0; i < 3; ++i) { + quantizedAabbMin[i]--; + quantizedAabbMax[i]++; + } int startX=0; int endX=m_heightStickWidth-1; @@ -223,11 +313,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback { case 0: { - quantizedAabbMin[1]+=m_heightStickWidth/2-1; - quantizedAabbMax[1]+=m_heightStickWidth/2+1; - quantizedAabbMin[2]+=m_heightStickLength/2-1; - quantizedAabbMax[2]+=m_heightStickLength/2+1; - if (quantizedAabbMin[1]>startX) startX = quantizedAabbMin[1]; if (quantizedAabbMax[1]<endX) @@ -240,11 +325,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback } case 1: { - quantizedAabbMin[0]+=m_heightStickWidth/2-1; - quantizedAabbMax[0]+=m_heightStickWidth/2+1; - quantizedAabbMin[2]+=m_heightStickLength/2-1; - quantizedAabbMax[2]+=m_heightStickLength/2+1; - if (quantizedAabbMin[0]>startX) startX = quantizedAabbMin[0]; if (quantizedAabbMax[0]<endX) @@ -257,11 +337,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback }; case 2: { - quantizedAabbMin[0]+=m_heightStickWidth/2-1; - quantizedAabbMax[0]+=m_heightStickWidth/2+1; - quantizedAabbMin[1]+=m_heightStickLength/2-1; - quantizedAabbMax[1]+=m_heightStickLength/2+1; - if (quantizedAabbMin[0]>startX) startX = quantizedAabbMin[0]; if (quantizedAabbMax[0]<endX) diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index d6890fe6b97..36489a0ebc3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -18,28 +18,80 @@ subject to the following restrictions: #include "btConcaveShape.h" -///The btHeightfieldTerrainShape simulates a 2D heightfield terrain collision shape. You can also use the more general btBvhTriangleMeshShape instead. -///An example implementation of btHeightfieldTerrainShape is provided in Demos/VehicleDemo/VehicleDemo.cpp +///btHeightfieldTerrainShape simulates a 2D heightfield terrain +/** + The caller is responsible for maintaining the heightfield array; this + class does not make a copy. + + The heightfield can be dynamic so long as the min/max height values + capture the extremes (heights must always be in that range). + + The local origin of the heightfield is assumed to be the exact + center (as determined by width and length and height, with each + axis multiplied by the localScaling). + + \b NOTE: be careful with coordinates. If you have a heightfield with a local + min height of -100m, and a max height of +500m, you may be tempted to place it + at the origin (0,0) and expect the heights in world coordinates to be + -100 to +500 meters. + Actually, the heights will be -300 to +300m, because bullet will re-center + the heightfield based on its AABB (which is determined by the min/max + heights). So keep in mind that once you create a btHeightfieldTerrainShape + object, the heights will be adjusted relative to the center of the AABB. This + is different to the behavior of many rendering engines, but is useful for + physics engines. + + Most (but not all) rendering and heightfield libraries assume upAxis = 1 + (that is, the y-axis is "up"). This class allows any of the 3 coordinates + to be "up". Make sure your choice of axis is consistent with your rendering + system. + + The heightfield heights are determined from the data type used for the + heightfieldData array. + + - PHY_UCHAR: height at a point is the uchar value at the + grid point, multipled by heightScale. uchar isn't recommended + because of its inability to deal with negative values, and + low resolution (8-bit). + + - PHY_SHORT: height at a point is the short int value at that grid + point, multipled by heightScale. + + - PHY_FLOAT: height at a point is the float value at that grid + point. heightScale is ignored when using the float heightfield + data type. + + Whatever the caller specifies as minHeight and maxHeight will be honored. + The class will not inspect the heightfield to discover the actual minimum + or maximum heights. These values are used to determine the heightfield's + axis-aligned bounding box, multiplied by localScaling. + + For usage and testing see the TerrainDemo. + */ class btHeightfieldTerrainShape : public btConcaveShape { protected: btVector3 m_localAabbMin; btVector3 m_localAabbMax; - + btVector3 m_localOrigin; + ///terrain data int m_heightStickWidth; int m_heightStickLength; + btScalar m_minHeight; btScalar m_maxHeight; btScalar m_width; btScalar m_length; + btScalar m_heightScale; union { unsigned char* m_heightfieldDataUnsignedChar; + short* m_heightfieldDataShort; btScalar* m_heightfieldDataFloat; void* m_heightfieldDataUnknown; }; - - bool m_useFloatData; + + PHY_ScalarType m_heightDataType; bool m_flipQuadEdges; bool m_useDiamondSubdivision; @@ -47,31 +99,49 @@ protected: btVector3 m_localScaling; - virtual btScalar getHeightFieldValue(int x,int y) const; + virtual btScalar getRawHeightFieldValue(int x,int y) const; void quantizeWithClamp(int* out, const btVector3& point,int isMax) const; void getVertex(int x,int y,btVector3& vertex) const; - inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const - { - bool overlap = true; - overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap; - overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap; - overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap; - return overlap; - } + + + /// protected initialization + /** + Handles the work of constructors so that public constructors can be + backwards-compatible without a lot of copy/paste. + */ + void initialize(int heightStickWidth, int heightStickLength, + void* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, int upAxis, + PHY_ScalarType heightDataType, bool flipQuadEdges); public: - btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges); + /// preferred constructor + /** + This constructor supports a range of heightfield + data types, and allows for a non-zero minimum height value. + heightScale is needed for any integer-based heightfield data types. + */ + btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength, + void* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, + int upAxis, PHY_ScalarType heightDataType, + bool flipQuadEdges); + + /// legacy constructor + /** + The legacy constructor assumes the heightfield has a minimum height + of zero. Only unsigned char or floats are supported. For legacy + compatibility reasons, heightScale is calculated as maxHeight / 65535 + (and is only used when useFloatData = false). + */ + btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges); virtual ~btHeightfieldTerrainShape(); void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;} - virtual int getShapeType() const - { - return TERRAIN_SHAPE_PROXYTYPE; - } virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp index 8f893ac98aa..b107b0bea6e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -17,23 +17,25 @@ subject to the following restrictions: btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB) -:m_shapeA(shapeA), +: btConvexInternalShape (), +m_shapeA(shapeA), m_shapeB(shapeB) { + m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE; m_transA.setIdentity(); m_transB.setIdentity(); } btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis())); - btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis())); + btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); + btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis())); return supVertexA - supVertexB; } void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const { - //todo: could make recursive use of batching. probably this shape is not used frequently. + ///@todo: could make recursive use of batching. probably this shape is not used frequently. for (int i=0;i<numVectors;i++) { supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h index f9c8427c2f3..6f637fbf40b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h @@ -46,8 +46,6 @@ public: const btTransform& GetTransformB()const { return m_transB;} - virtual int getShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; } - virtual btScalar getMargin() const; const btConvexShape* getShapeA() const { return m_shapeA;} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index c709205efc2..9423505290d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -18,8 +18,9 @@ subject to the following restrictions: #include "LinearMath/btQuaternion.h" btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres) -:m_inertiaHalfExtents(inertiaHalfExtents) +:btConvexInternalShape (), m_inertiaHalfExtents(inertiaHalfExtents) { + m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE; btScalar startMargin = btScalar(1e30); m_numSpheres = numSpheres; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h index 45968f3947f..97309fbbed9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h @@ -62,7 +62,6 @@ public: return m_radi[index]; } - virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; } virtual const char* getName()const { diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h index 2f108020cdf..d025a5c4450 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h @@ -31,10 +31,12 @@ public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {} + btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;} btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true): btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh) { + m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE; + btVector3 m_triangle[3]; const unsigned char *vertexbase; int numverts; @@ -67,6 +69,8 @@ public: btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true): btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh) { + m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE; + btVector3 m_triangle[3]; const unsigned char *vertexbase; int numverts; @@ -107,11 +111,6 @@ public: m_materialLookup = NULL; */ } - virtual int getShapeType() const - { - return MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE; - } - //debugging virtual const char* getName()const {return "MULTIMATERIALTRIANGLEMESH";} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp index a248c55b571..3e73059394c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp @@ -319,19 +319,19 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f { int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; - btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); -#ifdef DEBUG_PATCH_COLORS - btVector3 mycolor = color[index&3]; - graphicsbase[8] = mycolor.getX(); - graphicsbase[9] = mycolor.getY(); - graphicsbase[10] = mycolor.getZ(); -#endif //DEBUG_PATCH_COLORS - - - triangleVerts[j] = btVector3( - graphicsbase[0]*meshScaling.getX(), - graphicsbase[1]*meshScaling.getY(), - graphicsbase[2]*meshScaling.getZ()); + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( + graphicsbase[0]*meshScaling.getX(), + graphicsbase[1]*meshScaling.getY(), + graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ())); + } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index 71c3af38a02..7a79ac25791 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -15,8 +15,8 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" -btPolyhedralConvexShape::btPolyhedralConvexShape() -:m_localAabbMin(1,1,1), +btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(), +m_localAabbMin(1,1,1), m_localAabbMax(-1,-1,-1), m_isLocalAabbValid(false), m_optionalHull(0) @@ -25,7 +25,6 @@ m_optionalHull(0) } - btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const { int i; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index 4c4ce7feaa7..7567a42d3ba 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -16,7 +16,6 @@ subject to the following restrictions: #ifndef BU_SHAPE #define BU_SHAPE -#include "LinearMath/btPoint3.h" #include "LinearMath/btMatrix3x3.h" #include "LinearMath/btAabbUtil2.h" #include "btConvexInternalShape.h" @@ -36,12 +35,28 @@ public: btPolyhedralConvexShape(); //brute force implementations + 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; + 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 + { + btAssert(m_isLocalAabbValid); + aabbMin = m_localAabbMin; + aabbMax = m_localAabbMax; + } + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const { @@ -59,13 +74,13 @@ public: virtual int getNumVertices() const = 0 ; virtual int getNumEdges() const = 0; - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const = 0; - virtual void getVertex(int i,btPoint3& vtx) const = 0; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0; + virtual void getVertex(int i,btVector3& vtx) const = 0; virtual int getNumPlanes() const = 0; - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const = 0; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; // virtual int getIndex(int i) const = 0 ; - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const = 0; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0; /// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp class Hull* m_optionalHull; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp index 2b81a02b557..1fac1538769 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -15,11 +15,10 @@ subject to the following restrictions: #include "btScaledBvhTriangleMeshShape.h" -btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling) -:m_bvhTriMeshShape(childShape), -m_localScaling(localScaling) +btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling) +:m_localScaling(localScaling),m_bvhTriMeshShape(childShape) { - + m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; } btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape() @@ -35,7 +34,7 @@ class btScaledTriangleCallback : public btTriangleCallback public: - btScaledTriangleCallback(btTriangleCallback* originalCallback,btVector3 localScaling) + btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling) :m_originalCallback(originalCallback), m_localScaling(localScaling) { @@ -94,7 +93,7 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a btMatrix3x3 abs_b = trans.getBasis().absolute(); - btPoint3 center = trans(localCenter); + btVector3 center = trans(localCenter); btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), abs_b[1].dot(localHalfExtents), diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h index 0a1ef8ce5cb..5da6fe8bc95 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h @@ -32,15 +32,10 @@ ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape public: - btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling); + btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling); virtual ~btScaledBvhTriangleMeshShape(); - virtual int getShapeType() const - { - //use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h - return SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; - } virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; virtual void setLocalScaling(const btVector3& scaling); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp index 15cfe432e27..cab7b277289 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp @@ -18,12 +18,6 @@ subject to the following restrictions: #include "LinearMath/btQuaternion.h" - -btSphereShape ::btSphereShape (btScalar radius) -{ - m_implicitShapeDimensions.setX(radius); -} - btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { (void)vec; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h index a6d01cdca9d..bf163d3b501 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h @@ -27,8 +27,12 @@ ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btSphereShape (btScalar radius); - + btSphereShape (btScalar radius) : btConvexInternalShape () + { + m_shapeType = SPHERE_SHAPE_PROXYTYPE; + m_implicitShapeDimensions.setX(radius); + m_collisionMargin = radius; + } virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; @@ -40,7 +44,6 @@ public: virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - virtual int getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; } btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp index 3c98ca08ddc..17b8776d459 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @@ -19,10 +19,11 @@ subject to the following restrictions: btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant) -:m_planeNormal(planeNormal.normalized()), +: btConcaveShape (), m_planeNormal(planeNormal.normalized()), m_planeConstant(planeConstant), m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.)) { + m_shapeType = STATIC_PLANE_PROXYTYPE; // btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) ); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h index ddebca73dea..a496013c077 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h @@ -36,11 +36,6 @@ public: virtual ~btStaticPlaneShape(); - virtual int getShapeType() const - { - return STATIC_PLANE_PROXYTYPE; - } - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h index 85020dd3f58..e61b11499d4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -18,16 +18,9 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" #include "btTriangleCallback.h" +#include "btConcaveShape.h" + -/// PHY_ScalarType enumerates possible scalar types. -/// See the btStridingMeshInterface for its use -typedef enum PHY_ScalarType { - PHY_FLOAT, - PHY_DOUBLE, - PHY_INTEGER, - PHY_SHORT, - PHY_FIXEDPOINT88 -} PHY_ScalarType; /// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes. /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips. @@ -77,8 +70,16 @@ class btStridingMeshInterface virtual void preallocateIndices(int numindices)=0; virtual bool hasPremadeAabb() const { return false; } - virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const {} - virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const {} + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const + { + (void) aabbMin; + (void) aabbMax; + } + virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const + { + (void) aabbMin; + (void) aabbMax; + } const btVector3& getScaling() const { return m_scaling; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp index 3aa1eda9964..7fd8fb4691b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp @@ -16,35 +16,40 @@ subject to the following restrictions: #include "btTetrahedronShape.h" #include "LinearMath/btMatrix3x3.h" -btBU_Simplex1to4::btBU_Simplex1to4() -:m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexShape (), +m_numVertices(0) { + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; } -btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0) -:m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexShape (), +m_numVertices(0) { + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); } -btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1) -:m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexShape (), +m_numVertices(0) { + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); addVertex(pt1); } -btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2) -:m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexShape (), +m_numVertices(0) { + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); addVertex(pt1); addVertex(pt2); } -btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3) -:m_numVertices(0) +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexShape (), +m_numVertices(0) { + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; addVertex(pt0); addVertex(pt1); addVertex(pt2); @@ -55,7 +60,7 @@ btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const -void btBU_Simplex1to4::addVertex(const btPoint3& pt) +void btBU_Simplex1to4::addVertex(const btVector3& pt) { m_vertices[m_numVertices++] = pt; @@ -87,7 +92,7 @@ int btBU_Simplex1to4::getNumEdges() const return 0; } -void btBU_Simplex1to4::getEdge(int i,btPoint3& pa,btPoint3& pb) const +void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const { switch (m_numVertices) @@ -151,7 +156,7 @@ void btBU_Simplex1to4::getEdge(int i,btPoint3& pa,btPoint3& pb) const } -void btBU_Simplex1to4::getVertex(int i,btPoint3& vtx) const +void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const { vtx = m_vertices[i]; } @@ -178,7 +183,7 @@ int btBU_Simplex1to4::getNumPlanes() const } -void btBU_Simplex1to4::getPlane(btVector3&, btPoint3& ,int ) const +void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const { } @@ -188,7 +193,7 @@ int btBU_Simplex1to4::getIndex(int ) const return 0; } -bool btBU_Simplex1to4::isInside(const btPoint3& ,btScalar ) const +bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const { return false; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h index 09272d61dc2..114ae288bb0 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h @@ -27,15 +27,15 @@ class btBU_Simplex1to4 : public btPolyhedralConvexShape protected: int m_numVertices; - btPoint3 m_vertices[4]; + btVector3 m_vertices[4]; public: btBU_Simplex1to4(); - btBU_Simplex1to4(const btPoint3& pt0); - btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1); - btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2); - btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const btPoint3& pt2,const btPoint3& pt3); + btBU_Simplex1to4(const btVector3& pt0); + btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1); + btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2); + btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3); void reset() @@ -44,9 +44,8 @@ public: } - virtual int getShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; } - void addVertex(const btPoint3& pt); + void addVertex(const btVector3& pt); //PolyhedralConvexShape interface @@ -54,17 +53,17 @@ public: virtual int getNumEdges() const; - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; - virtual void getVertex(int i,btPoint3& vtx) const; + virtual void getVertex(int i,btVector3& vtx) const; virtual int getNumPlanes() const; - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const; virtual int getIndex(int i) const; - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; ///getName is for debugging diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h index c739fc11e8f..adca38041b2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h @@ -28,7 +28,7 @@ struct btTriangle int m_triangleIndex; }; -///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles' +///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles' ///Example usage of this class: /// btTriangleBuffer triBuf; /// concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp index b962829041a..5f292532861 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp @@ -82,7 +82,8 @@ bool btTriangleIndexVertexArray::hasPremadeAabb() const return (m_hasAabb == 1); } -void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) + +void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const { m_aabbMin = aabbMin; m_aabbMax = aabbMax; @@ -95,3 +96,4 @@ void btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* a *aabbMax = m_aabbMax; } + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index e546675f802..eb79ff5e47d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -52,9 +52,9 @@ ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshIn protected: IndexedMeshArray m_indexedMeshes; int m_pad[2]; - int m_hasAabb; // using int instead of bool to maintain alignment - btVector3 m_aabbMin; - btVector3 m_aabbMax; + mutable int m_hasAabb; // using int instead of bool to maintain alignment + mutable btVector3 m_aabbMin; + mutable btVector3 m_aabbMax; public: @@ -106,7 +106,7 @@ public: virtual void preallocateIndices(int numindices){(void) numindices;} virtual bool hasPremadeAabb() const; - virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ); + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const; virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp index 492854ff646..abefa71250a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp @@ -1,3 +1,4 @@ + /* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp index 29d26316316..5dcfa51c280 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -35,13 +35,13 @@ m_weldingThreshold(0.0) if (m_use32bitIndices) { m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3; - m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; + m_indexedMeshes[0].m_triangleIndexBase = 0; m_indexedMeshes[0].m_indexType = PHY_INTEGER; m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int); } else { m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3; - m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; + m_indexedMeshes[0].m_triangleIndexBase = 0; m_indexedMeshes[0].m_indexType = PHY_SHORT; m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int); } @@ -49,12 +49,12 @@ m_weldingThreshold(0.0) if (m_use4componentVertices) { m_indexedMeshes[0].m_numVertices = m_4componentVertices.size(); - m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; + m_indexedMeshes[0].m_vertexBase = 0; m_indexedMeshes[0].m_vertexStride = sizeof(btVector3); } else { m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3; - m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; + m_indexedMeshes[0].m_vertexBase = 0; m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar); } @@ -74,17 +74,21 @@ void btTriangleMesh::addIndex(int index) } } -int btTriangleMesh::findOrAddVertex(const btVector3& vertex) + +int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices) { //return index of new/existing vertex - //todo: could use acceleration structure for this + ///@todo: could use acceleration structure for this if (m_use4componentVertices) { - for (int i=0;i< m_4componentVertices.size();i++) - { - if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold) + if (removeDuplicateVertices) + { + for (int i=0;i< m_4componentVertices.size();i++) { - return i; + if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold) + { + return i; + } } } m_indexedMeshes[0].m_numVertices++; @@ -96,17 +100,20 @@ int btTriangleMesh::findOrAddVertex(const btVector3& vertex) } else { - for (int i=0;i< m_3componentVertices.size();i+=3) + if (removeDuplicateVertices) { - btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]); - if ((vtx-vertex).length2() <= m_weldingThreshold) + for (int i=0;i< m_3componentVertices.size();i+=3) { - return i/3; + btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]); + if ((vtx-vertex).length2() <= m_weldingThreshold) + { + return i/3; + } } - } - m_3componentVertices.push_back(vertex.getX()); - m_3componentVertices.push_back(vertex.getY()); - m_3componentVertices.push_back(vertex.getZ()); + } + m_3componentVertices.push_back((float)vertex.getX()); + m_3componentVertices.push_back((float)vertex.getY()); + m_3componentVertices.push_back((float)vertex.getZ()); m_indexedMeshes[0].m_numVertices++; m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; return (m_3componentVertices.size()/3)-1; @@ -114,13 +121,12 @@ int btTriangleMesh::findOrAddVertex(const btVector3& vertex) } -void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2) +void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices) { m_indexedMeshes[0].m_numTriangles++; - - addIndex(findOrAddVertex(vertex0)); - addIndex(findOrAddVertex(vertex1)); - addIndex(findOrAddVertex(vertex2)); + addIndex(findOrAddVertex(vertex0,removeDuplicateVertices)); + addIndex(findOrAddVertex(vertex1,removeDuplicateVertices)); + addIndex(findOrAddVertex(vertex2,removeDuplicateVertices)); } int btTriangleMesh::getNumTriangles() const diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h index 1f51b2f2c87..f06fbb7c22d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h @@ -25,7 +25,6 @@ subject to the following restrictions: ///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices. ///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface. ///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same. -///It has a brute-force option to weld together closeby vertices. class btTriangleMesh : public btTriangleIndexVertexArray { btAlignedObjectArray<btVector3> m_4componentVertices; @@ -42,7 +41,7 @@ class btTriangleMesh : public btTriangleIndexVertexArray btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true); - int findOrAddVertex(const btVector3& vertex); + int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices); void addIndex(int index); bool getUse32bitIndices() const @@ -54,8 +53,9 @@ class btTriangleMesh : public btTriangleIndexVertexArray { return m_use4componentVertices; } - - void addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2); + ///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); int getNumTriangles() const; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp index 0a2c77096d1..1bd7e84a4e7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp @@ -22,8 +22,9 @@ subject to the following restrictions: btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) -: m_meshInterface(meshInterface) +: btConcaveShape (), m_meshInterface(meshInterface) { + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; if(meshInterface->hasPremadeAabb()) { meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax); @@ -52,7 +53,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt btMatrix3x3 abs_b = trans.getBasis().absolute(); - btPoint3 center = trans(localCenter); + btVector3 center = trans(localCenter); btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), abs_b[1].dot(localHalfExtents), diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h index c9eabafe290..53d65799001 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h @@ -40,7 +40,7 @@ public: virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - assert(0); + btAssert(0); return localGetSupportingVertex(vec); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h index ba7aa0c32a0..4bfb0b9e881 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h @@ -40,17 +40,13 @@ public: { vert = m_vertices1[index]; } - virtual int getShapeType() const - { - return TRIANGLE_SHAPE_PROXYTYPE; - } virtual int getNumEdges() const { return 3; } - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const { getVertex(i,pa); getVertex((i+1)%3,pb); @@ -83,15 +79,16 @@ public: - btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) + btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape () { + m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; m_vertices1[0] = p0; m_vertices1[1] = p1; m_vertices1[2] = p2; } - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const { getPlaneEquation(i,planeNormal,planeSupport); } @@ -107,7 +104,7 @@ public: normal.normalize(); } - virtual void getPlaneEquation(int i, btVector3& planeNormal,btPoint3& planeSupport) const + virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const { (void)i; calcNormal(planeNormal); @@ -121,7 +118,7 @@ public: inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); } - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const + virtual bool isInside(const btVector3& pt,btScalar tolerance) const { btVector3 normal; calcNormal(normal); @@ -135,7 +132,7 @@ public: int i; for (i=0;i<3;i++) { - btPoint3 pa,pb; + btVector3 pa,pb; getEdge(i,pa,pb); btVector3 edge = pb-pa; btVector3 edgeNormal = edge.cross(normal); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp index ef340286cb0..4c1c716d519 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp @@ -16,9 +16,10 @@ subject to the following restrictions: #include "btUniformScalingShape.h" btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor): -m_childConvexShape(convexChildShape), +btConvexShape (), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor) { + m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE; } btUniformScalingShape::~btUniformScalingShape() diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h index 1e17fc8e198..945976ac036 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h @@ -61,7 +61,6 @@ class btUniformScalingShape : public btConvexShape return "UniformScalingShape"; } - virtual int getShapeType() const { return UNIFORM_SCALING_SHAPE_PROXYTYPE; } /////////////////////////// |