diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes')
7 files changed, 71 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index 12f422f193f..0aa75f2bff3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -273,6 +273,8 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf + + void btCompoundShape::setLocalScaling(const btVector3& scaling) { @@ -283,7 +285,7 @@ void btCompoundShape::setLocalScaling(const btVector3& scaling) // childScale = childScale * (childTrans.getBasis() * scaling); childScale = childScale * scaling / m_localScaling; m_children[i].m_childShape->setLocalScaling(childScale); - childTrans.setOrigin((childTrans.getOrigin())*scaling); + childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling); updateChildTransform(i, childTrans,false); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp index 5e83087b320..2d83c8bfbac 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp @@ -62,6 +62,10 @@ void btConeShape::setConeUpIndex(int upIndex) default: btAssert(0); }; + + m_implicitShapeDimensions[m_coneIndices[0]] = m_radius; + m_implicitShapeDimensions[m_coneIndices[1]] = m_height; + m_implicitShapeDimensions[m_coneIndices[2]] = m_radius; } btVector3 btConeShape::coneLocalSupport(const btVector3& v) const diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h index 5966ae48f11..4a0df0d558b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h @@ -90,6 +90,13 @@ public: } virtual void setLocalScaling(const btVector3& scaling); + + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + }; @@ -104,19 +111,61 @@ class btConeShapeX : public btConeShape return btVector3 (1,0,0); } + //debugging + virtual const char* getName()const + { + return "ConeX"; + } + + }; ///btConeShapeZ implements a Cone shape, around the Z axis class btConeShapeZ : public btConeShape { - public: - btConeShapeZ(btScalar radius,btScalar height); +public: + btConeShapeZ(btScalar radius,btScalar height); virtual btVector3 getAnisotropicRollingFrictionDirection() const { return btVector3 (0,0,1); } + //debugging + virtual const char* getName()const + { + return "ConeZ"; + } + + }; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConeShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + int m_upIndex; + + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const +{ + return sizeof(btConeShapeData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btConeShapeData* shapeData = (btConeShapeData*) dataBuffer; + + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); + + shapeData->m_upIndex = m_coneIndices[1]; + + return "btConeShapeData"; +} + #endif //BT_CONE_MINKOWSKI_H diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 9d40dfdd0dd..fb0d9fdb75a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -21,6 +21,7 @@ subject to the following restrictions: #include "btTriangleShape.h" #include "btSphereShape.h" #include "btCylinderShape.h" +#include "btConeShape.h" #include "btCapsuleShape.h" #include "btConvexHullShape.h" #include "btConvexPointCloudShape.h" @@ -336,6 +337,11 @@ btScalar btConvexShape::getMarginNonVirtual () const btCylinderShape* cylShape = (btCylinderShape*)this; return cylShape->getMarginNV(); } + case CONE_SHAPE_PROXYTYPE: + { + btConeShape* conShape = (btConeShape*)this; + return conShape->getMarginNV(); + } case CAPSULE_SHAPE_PROXYTYPE: { btCapsuleShape* capsuleShape = (btCapsuleShape*)this; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 8d4080a63a6..26322791d04 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -369,7 +369,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback getVertex(x+1,j+1,vertices[2]); callback->processTriangle(vertices,x,j); //second triangle - getVertex(x,j,vertices[0]); + // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman getVertex(x+1,j+1,vertices[1]); getVertex(x,j+1,vertices[2]); callback->processTriangle(vertices,x,j); @@ -382,7 +382,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback callback->processTriangle(vertices,x,j); //second triangle getVertex(x+1,j,vertices[0]); - getVertex(x,j+1,vertices[1]); + //getVertex(x,j+1,vertices[1]); getVertex(x+1,j+1,vertices[2]); callback->processTriangle(vertices,x,j); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp index 51a2f8a0739..5fbed334ec1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -111,10 +111,10 @@ int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicat return i/3; } } - } - m_3componentVertices.push_back((float)vertex.getX()); - m_3componentVertices.push_back((float)vertex.getY()); - m_3componentVertices.push_back((float)vertex.getZ()); + } + m_3componentVertices.push_back(vertex.getX()); + m_3componentVertices.push_back(vertex.getY()); + m_3componentVertices.push_back(vertex.getZ()); m_indexedMeshes[0].m_numVertices++; m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; return (m_3componentVertices.size()/3)-1; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h index 29d1b5cdaa4..0afc2321ff0 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h @@ -27,7 +27,7 @@ subject to the following restrictions: class btTriangleMesh : public btTriangleIndexVertexArray { btAlignedObjectArray<btVector3> m_4componentVertices; - btAlignedObjectArray<float> m_3componentVertices; + btAlignedObjectArray<btScalar> m_3componentVertices; btAlignedObjectArray<unsigned int> m_32bitIndices; btAlignedObjectArray<unsigned short int> m_16bitIndices; |