diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes')
40 files changed, 402 insertions, 261 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h index f4a9ca03e5c..ce333783e44 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h @@ -23,7 +23,7 @@ subject to the following restrictions: #include "LinearMath/btMinMax.h" ///The btBox2dShape 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. -class btBox2dShape: public btPolyhedralConvexShape +ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape { //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead @@ -34,6 +34,8 @@ class btBox2dShape: public btPolyhedralConvexShape public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 getHalfExtentsWithMargin() const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h index 0c5857dae62..715e3f2ab98 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h @@ -23,7 +23,7 @@ subject to the following restrictions: #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. -class btBoxShape: public btPolyhedralConvexShape +ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape { //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead @@ -31,6 +31,8 @@ class btBoxShape: public btPolyhedralConvexShape public: +BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 getHalfExtentsWithMargin() const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h index d1c21629873..493d635539e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h @@ -21,7 +21,13 @@ subject to the following restrictions: #include "LinearMath/btAlignedAllocator.h" #include "btTriangleInfoMap.h" -///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. +///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects. +///If you required moving concave triangle meshes, it is recommended to perform convex decomposition +///using HACD, see Bullet/Demos/ConvexDecompositionDemo. +///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes. +///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and +///cache friendly traversal for PlayStation 3 Cell SPU. +///It is recommended to enable useQuantizedAabbCompression for better memory usage. ///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. ///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. ///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example. diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h index ab763abf808..7578bb258df 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -23,7 +23,7 @@ subject to the following restrictions: ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres. -class btCapsuleShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape { protected: int m_upAxis; @@ -33,6 +33,9 @@ protected: btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;}; public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + btCapsuleShape(btScalar radius,btScalar height); ///CollisionShape Interface @@ -62,8 +65,8 @@ public: halfExtents += btVector3(getMargin(),getMargin(),getMargin()); 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)); - + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + aabbMin = center - extent; aabbMax = center + extent; } @@ -101,6 +104,14 @@ public: } + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + btVector3 aniDir(0,0,0); + aniDir[getUpAxis()]=1; + return aniDir; + } + + virtual int calculateSerializeBufferSize() const; ///fills the dataBuffer and returns the struct name (and 0 on failure) diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h index 865c1067744..ff017a20671 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h @@ -24,7 +24,7 @@ class btSerializer; ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. -class btCollisionShape +ATTRIBUTE_ALIGNED16(class) btCollisionShape { protected: int m_shapeType; @@ -32,6 +32,8 @@ protected: public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0) { } @@ -107,6 +109,13 @@ public: int getShapeType() const { return m_shapeType; } + + ///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction + ///See Bullet/Demos/RollingFrictionDemo for an example + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3(1,1,1); + } virtual void setMargin(btScalar margin) = 0; virtual btScalar getMargin() const = 0; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index 4eb860c57f1..12f422f193f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -182,9 +182,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect btVector3 center = trans(localCenter); - btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), - abs_b[1].dot(localHalfExtents), - abs_b[2].dot(localHalfExtents)); + btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); aabbMin = center-extent; aabbMax = center+extent; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h index 2a03241c9d7..2917cc5b60f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h @@ -33,12 +33,14 @@ typedef enum PHY_ScalarType { ///The btConcaveShape class provides an interface for non-moving (static) concave shapes. ///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape. -class btConcaveShape : public btCollisionShape +ATTRIBUTE_ALIGNED16(class) btConcaveShape : public btCollisionShape { protected: btScalar m_collisionMargin; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btConcaveShape(); virtual ~btConcaveShape(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h index b69b5c5b0c8..5966ae48f11 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h @@ -20,7 +20,7 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types ///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis. -class btConeShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape { @@ -32,6 +32,8 @@ class btConeShape : public btConvexInternalShape public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btConeShape (btScalar radius,btScalar height); virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; @@ -82,6 +84,11 @@ public: return m_coneIndices[1]; } + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3 (0,1,0); + } + virtual void setLocalScaling(const btVector3& scaling); }; @@ -91,6 +98,12 @@ class btConeShapeX : public btConeShape { public: btConeShapeX(btScalar radius,btScalar height); + + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3 (1,0,0); + } + }; ///btConeShapeZ implements a Cone shape, around the Z axis @@ -98,6 +111,12 @@ class btConeShapeZ : public btConeShape { public: btConeShapeZ(btScalar radius,btScalar height); + + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3 (0,0,1); + } + }; #endif //BT_CONE_MINKOWSKI_H diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h index caf54329da9..bbd1caf42fb 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h @@ -21,12 +21,14 @@ subject to the following restrictions: ///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0. ///For 2d boxes, the btBox2dShape is recommended. -class btConvex2dShape : public btConvexShape +ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape { btConvexShape* m_childConvexShape; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btConvex2dShape( btConvexShape* convexChildShape); virtual ~btConvex2dShape(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp index 226245979ab..0623e351a97 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -13,6 +13,10 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + #include "btConvexHullShape.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h" @@ -45,30 +49,28 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling) recalcLocalAabb(); } -void btConvexHullShape::addPoint(const btVector3& point) +void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb) { m_unscaledPoints.push_back(point); - recalcLocalAabb(); + if (recalculateLocalAabb) + recalcLocalAabb(); } btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); - btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); + btScalar maxDot = btScalar(-BT_LARGE_FLOAT); - for (int i=0;i<m_unscaledPoints.size();i++) - { - btVector3 vtx = m_unscaledPoints[i] * m_localScaling; + // Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically. + if( 0 < m_unscaledPoints.size() ) + { + btVector3 scaled = vec * m_localScaling; + int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints + return m_unscaledPoints[index] * m_localScaling; + } - newDot = vec.dot(vtx); - if (newDot > maxDot) - { - maxDot = newDot; - supVec = vtx; - } - } - return supVec; + return supVec; } void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const @@ -81,23 +83,19 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT); } } - for (int i=0;i<m_unscaledPoints.size();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; - } - } - } + for (int j=0;j<numVectors;j++) + { + btVector3 vec = vectors[j] * m_localScaling; // dot(a*b,c) = dot(a,b*c) + if( 0 < m_unscaledPoints.size() ) + { + int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot); + supportVerticesOut[j] = getScaledPoint(i); + supportVerticesOut[j][3] = newDot; + } + else + supportVerticesOut[j][3] = -BT_LARGE_FLOAT; + } @@ -208,13 +206,11 @@ const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali return "btConvexHullShapeData"; } -void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const +void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const { #if 1 - min = FLT_MAX; - max = -FLT_MAX; - btVector3 witnesPtMin; - btVector3 witnesPtMax; + minProj = FLT_MAX; + maxProj = -FLT_MAX; int numVerts = m_unscaledPoints.size(); for(int i=0;i<numVerts;i++) @@ -222,31 +218,30 @@ void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btVector3 vtx = m_unscaledPoints[i] * m_localScaling; btVector3 pt = trans * vtx; btScalar dp = pt.dot(dir); - if(dp < min) + if(dp < minProj) { - min = dp; + minProj = dp; witnesPtMin = pt; } - if(dp > max) + if(dp > maxProj) { - max = dp; + maxProj = dp; witnesPtMax=pt; } } #else btVector3 localAxis = dir*trans.getBasis(); - btVector3 vtx1 = trans(localGetSupportingVertex(localAxis)); - btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis)); + witnesPtMin = trans(localGetSupportingVertex(localAxis)); + witnesPtMax = trans(localGetSupportingVertex(-localAxis)); - min = vtx1.dot(dir); - max = vtx2.dot(dir); + minProj = witnesPtMin.dot(dir); + maxProj = witnesPtMax.dot(dir); #endif - if(min>max) + if(minProj>maxProj) { - btScalar tmp = min; - min = max; - max = tmp; + btSwap(minProj,maxProj); + btSwap(witnesPtMin,witnesPtMax); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h index 95a2af6a3a0..3bd598ec4e9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -36,7 +36,7 @@ public: ///btConvexHullShape make an internal copy of the points. btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3)); - void addPoint(const btVector3& point); + void addPoint(const btVector3& point, bool recalculateLocalAabb = true); btVector3* getUnscaledPoints() @@ -73,7 +73,7 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const; + virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; //debugging diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h index 85cd9ef90c7..37e04f5fc81 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h @@ -26,7 +26,7 @@ subject to the following restrictions: ///Note that when creating small shapes (derived from btConvexInternalShape), ///you need to make sure to set a smaller collision margin, using the 'setMargin' API ///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape -class btConvexInternalShape : public btConvexShape +ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape { protected: @@ -44,7 +44,7 @@ class btConvexInternalShape : public btConvexShape public: - + BT_DECLARE_ALIGNED_ALLOCATOR(); virtual ~btConvexInternalShape() { diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp index c1b155aef45..ad1d1bf78f8 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp @@ -28,7 +28,7 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const { btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); - btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); + btScalar maxDot = btScalar(-BT_LARGE_FLOAT); btVector3 vec = vec0; btScalar lenSqr = vec.length2(); @@ -40,51 +40,33 @@ btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const b btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); vec *= rlen; } + + if( m_numPoints > 0 ) + { + // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically. + // btVector3 scaled = vec * m_localScaling; + int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints + return getScaledPoint(index); + } - - 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(-BT_LARGE_FLOAT); - } - } - 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; - } - } - } - - + for( int j = 0; j < numVectors; j++ ) + { + const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c) + btScalar maxDot; + int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); + supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT); + if( 0 <= index ) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = getScaledPoint(index); + supportVerticesOut[j][3] = maxDot; + } + } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp index 1e26be531c2..f4324c1f401 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp @@ -274,23 +274,29 @@ void btConvexPolyhedron::initialize() #endif } - -void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const +void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const { - min = FLT_MAX; - max = -FLT_MAX; + minProj = FLT_MAX; + maxProj = -FLT_MAX; int numVerts = m_vertices.size(); for(int i=0;i<numVerts;i++) { btVector3 pt = trans * m_vertices[i]; btScalar dp = pt.dot(dir); - if(dp < min) min = dp; - if(dp > max) max = dp; + if(dp < minProj) + { + minProj = dp; + witnesPtMin = pt; + } + if(dp > maxProj) + { + maxProj = dp; + witnesPtMax = pt; + } } - if(min>max) + if(minProj>maxProj) { - btScalar tmp = min; - min = max; - max = tmp; + btSwap(minProj,maxProj); + btSwap(witnesPtMin,witnesPtMax); } -}
\ No newline at end of file +} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h index 08db39a33c8..d3cd066ac8d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h @@ -34,9 +34,12 @@ struct btFace }; -class btConvexPolyhedron +ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron { public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + btConvexPolyhedron(); virtual ~btConvexPolyhedron(); @@ -53,7 +56,7 @@ class btConvexPolyhedron void initialize(); bool testContainment() const; - void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const; + void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 8c67d8ebef1..4b16130211f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -13,6 +13,10 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + #include "btConvexShape.h" #include "btTriangleShape.h" #include "btSphereShape.h" @@ -109,19 +113,8 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector return supVec; #else - btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT); - int ptIndex = -1; - - for (int i=0;i<numPoints;i++) - { - - newDot = vec.dot(points[i]); - if (newDot > maxDot) - { - maxDot = newDot; - ptIndex = i; - } - } + btScalar maxDot; + long ptIndex = vec.maxDot( points, numPoints, maxDot); btAssert(ptIndex >= 0); btVector3 supVec = points[ptIndex] * localScaling; return supVec; @@ -141,16 +134,26 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV btBoxShape* convexShape = (btBoxShape*)this; const btVector3& halfExtents = convexShape->getImplicitShapeDimensions(); +#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON )) + #if defined( BT_USE_SSE ) + return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 )); + #elif defined( BT_USE_NEON ) + return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 )); + #else + #error unknown vector arch + #endif +#else return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()), btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()), btFsels(localDir.z(), halfExtents.z(), -halfExtents.z())); +#endif } 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 dots = dir.dot3(vertices[0], vertices[1], vertices[2]); btVector3 sup = vertices[dots.maxAxis()]; return btVector3(sup.getX(),sup.getY(),sup.getZ()); } @@ -383,8 +386,8 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, 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)); - + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + aabbMin = center - extent; aabbMax = center + extent; break; @@ -417,7 +420,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, 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)); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); aabbMin = center - extent; aabbMax = center + extent; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h index af5d00388e8..f338865ca13 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h @@ -22,12 +22,14 @@ subject to the following restrictions: /// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape. /// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead. -class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape +ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape { class btStridingMeshInterface* m_stridingMesh; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true); class btStridingMeshInterface* getMeshInterface() diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h index 125bfc78a77..6f796950e1d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h @@ -21,7 +21,7 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. -class btCylinderShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape { @@ -31,6 +31,8 @@ protected: public: +BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 getHalfExtentsWithMargin() const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); @@ -95,6 +97,13 @@ public: return m_upAxis; } + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + btVector3 aniDir(0,0,0); + aniDir[getUpAxis()]=1; + return aniDir; + } + virtual btScalar getRadius() const { return getHalfExtentsWithMargin().getX(); @@ -128,6 +137,8 @@ public: class btCylinderShapeX : public btCylinderShape { public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btCylinderShapeX (const btVector3& halfExtents); virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; @@ -149,6 +160,8 @@ public: class btCylinderShapeZ : public btCylinderShape { public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btCylinderShapeZ (const btVector3& halfExtents); virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h index 87b7b66d1e1..069a79402bf 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h @@ -28,9 +28,11 @@ subject to the following restrictions: /// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class. /// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed. -class btEmptyShape : public btConcaveShape +ATTRIBUTE_ALIGNED16(class) btEmptyShape : public btConcaveShape { public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btEmptyShape(); virtual ~btEmptyShape(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 95631c30190..8d4080a63a6 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -38,7 +38,7 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h // 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; + btScalar minHeight = 0.0f; // previously, height = uchar * maxHeight / 65535. // So to preserve legacy behavior, heightScale = maxHeight / 65535 @@ -82,6 +82,7 @@ PHY_ScalarType hdt, bool flipQuadEdges m_heightDataType = hdt; m_flipQuadEdges = flipQuadEdges; m_useDiamondSubdivision = false; + m_useZigzagSubdivision = false; m_upAxis = upAxis; m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.)); @@ -135,9 +136,7 @@ void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin, 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)); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); extent += btVector3(getMargin(),getMargin(),getMargin()); aabbMin = center - extent; @@ -362,7 +361,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback for(int x=startX; x<endX; x++) { btVector3 vertices[3]; - if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))) + if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))|| (m_useZigzagSubdivision && !(j & 1))) { //first triangle getVertex(x,j,vertices[0]); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index 78e231e08e6..4a7a4a4bda4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -68,7 +68,7 @@ subject to the following restrictions: For usage and testing see the TerrainDemo. */ -class btHeightfieldTerrainShape : public btConcaveShape +ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape { protected: btVector3 m_localAabbMin; @@ -93,7 +93,8 @@ protected: PHY_ScalarType m_heightDataType; bool m_flipQuadEdges; - bool m_useDiamondSubdivision; + bool m_useDiamondSubdivision; + bool m_useZigzagSubdivision; int m_upAxis; @@ -116,6 +117,9 @@ protected: PHY_ScalarType heightDataType, bool flipQuadEdges); public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + /// preferred constructor /** This constructor supports a range of heightfield @@ -142,6 +146,8 @@ public: void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;} + ///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625 + void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;} virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h index 6c844e8c0af..a3f9a472394 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h @@ -20,7 +20,7 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types /// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. -class btMinkowskiSumShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape { btTransform m_transA; @@ -30,6 +30,8 @@ class btMinkowskiSumShape : public btConvexInternalShape public: +BT_DECLARE_ALIGNED_ALLOCATOR(); + btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB); virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index c996bfcdaba..a7362ea01f4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -13,7 +13,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif #include "btMultiSphereShape.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h" @@ -39,10 +41,11 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala } - +#ifndef MIN + #define MIN( _a, _b) ((_a) < (_b) ? (_a) : (_b)) +#endif btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const { - int i; btVector3 supVec(0,0,0); btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); @@ -66,18 +69,23 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala const btScalar* rad = &m_radiArray[0]; int numSpheres = m_localPositionArray.size(); - for (i=0;i<numSpheres;i++) + for( int k = 0; k < numSpheres; k+= 128 ) { - vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); - pos++; - rad++; - newDot = vec.dot(vtx); - if (newDot > maxDot) + btVector3 temp[128]; + int inner_count = MIN( numSpheres - k, 128 ); + for( long i = 0; i < inner_count; i++ ) + { + temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); + pos++; + rad++; + } + long i = vec.maxDot( temp, inner_count, newDot); + if( newDot > maxDot ) { maxDot = newDot; - supVec = vtx; + supVec = temp[i]; } - } + } return supVec; @@ -98,18 +106,25 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala const btVector3* pos = &m_localPositionArray[0]; const btScalar* rad = &m_radiArray[0]; int numSpheres = m_localPositionArray.size(); - for (int i=0;i<numSpheres;i++) - { - vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); - pos++; - rad++; - newDot = vec.dot(vtx); - if (newDot > maxDot) - { - maxDot = newDot; - supportVerticesOut[j] = vtx; - } - } + + for( int k = 0; k < numSpheres; k+= 128 ) + { + btVector3 temp[128]; + int inner_count = MIN( numSpheres - k, 128 ); + for( long i = 0; i < inner_count; i++ ) + { + temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); + pos++; + rad++; + } + long i = vec.maxDot( temp, inner_count, newDot); + if( newDot > maxDot ) + { + maxDot = newDot; + supportVerticesOut[j] = temp[i]; + } + } + } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h index 06c5d16d941..5d3b4026848 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h @@ -25,13 +25,15 @@ subject to the following restrictions: ///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes. ///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius -class btMultiSphereShape : public btConvexInternalAabbCachingShape +ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape { btAlignedObjectArray<btVector3> m_localPositionArray; btAlignedObjectArray<btScalar> m_radiArray; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres); ///CollisionShape Interface diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index 82def79cf55..4854f370f73 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -12,6 +12,9 @@ subject to the following restrictions: 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. */ +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" #include "btConvexPolyhedron.h" @@ -31,51 +34,58 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape() { if (m_polyhedron) { + m_polyhedron->~btConvexPolyhedron(); btAlignedFree(m_polyhedron); } } -bool btPolyhedralConvexShape::initializePolyhedralFeatures() +bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin) { if (m_polyhedron) + { + m_polyhedron->~btConvexPolyhedron(); btAlignedFree(m_polyhedron); + } void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16); m_polyhedron = new (mem) btConvexPolyhedron; - btAlignedObjectArray<btVector3> orgVertices; + btAlignedObjectArray<btVector3> orgVertices; for (int i=0;i<getNumVertices();i++) { btVector3& newVertex = orgVertices.expand(); getVertex(i,newVertex); } - -#if 0 - btAlignedObjectArray<btVector3> planeEquations; - btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations); - - btAlignedObjectArray<btVector3> shiftedPlaneEquations; - for (int p=0;p<planeEquations.size();p++) + + btConvexHullComputer conv; + + if (shiftVerticesByMargin) { - btVector3 plane = planeEquations[p]; - plane[3] -= getMargin(); - shiftedPlaneEquations.push_back(plane); - } + btAlignedObjectArray<btVector3> planeEquations; + btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations); - btAlignedObjectArray<btVector3> tmpVertices; + btAlignedObjectArray<btVector3> shiftedPlaneEquations; + for (int p=0;p<planeEquations.size();p++) + { + btVector3 plane = planeEquations[p]; + // btScalar margin = getMargin(); + plane[3] -= getMargin(); + shiftedPlaneEquations.push_back(plane); + } - btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices); - btConvexHullComputer conv; - conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f); + btAlignedObjectArray<btVector3> tmpVertices; -#else - btConvexHullComputer conv; - conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f); - -#endif + btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices); + + conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f); + } else + { + + conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f); + } @@ -107,9 +117,6 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures() int numEdges = 0; //compute face normals - btScalar maxCross2 = 0.f; - int chosenEdge = -1; - do { @@ -192,7 +199,8 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures() { //do the merge: use Graham Scan 2d convex hull - btAlignedObjectArray<GrahamVector2> orgpoints; + btAlignedObjectArray<GrahamVector3> orgpoints; + btVector3 averageFaceNormal(0,0,0); for (int i=0;i<coplanarFaceGroup.size();i++) { @@ -200,16 +208,12 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures() btFace& face = tmpFaces[coplanarFaceGroup[i]]; btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]); - btVector3 xyPlaneNormal(0,0,1); - - btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal); - + averageFaceNormal+=faceNormal; for (int f=0;f<face.m_indices.size();f++) { int orgIndex = face.m_indices[f]; btVector3 pt = m_polyhedron->m_vertices[orgIndex]; - btVector3 rotatedPt = quatRotate(rotationArc,pt); - rotatedPt.setZ(0); + bool found = false; for (int i=0;i<orgpoints.size();i++) @@ -222,34 +226,45 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures() } } if (!found) - orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex)); + orgpoints.push_back(GrahamVector3(pt,orgIndex)); } } + + btFace combinedFace; for (int i=0;i<4;i++) combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i]; - btAlignedObjectArray<GrahamVector2> hull; - GrahamScanConvexHull2D(orgpoints,hull); + btAlignedObjectArray<GrahamVector3> hull; + + averageFaceNormal.normalize(); + GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal); for (int i=0;i<hull.size();i++) { combinedFace.m_indices.push_back(hull[i].m_orgIndex); - for(int k = 0; k < orgpoints.size(); k++) { - if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) { + for(int k = 0; k < orgpoints.size(); k++) + { + if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) + { orgpoints[k].m_orgIndex = -1; // invalidate... break; - } + } } } + // are there rejected vertices? bool reject_merge = false; + + + for(int i = 0; i < orgpoints.size(); i++) { if(orgpoints[i].m_orgIndex == -1) continue; // this is in the hull... // this vertex is rejected -- is anybody else using this vertex? for(int j = 0; j < tmpFaces.size(); j++) { + btFace& face = tmpFaces[j]; // is this a face of the current coplanar group? bool is_in_current_group = false; @@ -275,20 +290,23 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures() if(reject_merge) break; } - if(!reject_merge) { + + if (!reject_merge) + { // do this merge! did_merge = true; - m_polyhedron->m_faces.push_back(combinedFace); + m_polyhedron->m_faces.push_back(combinedFace); } } if(!did_merge) { for (int i=0;i<coplanarFaceGroup.size();i++) { - m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]); + btFace face = tmpFaces[coplanarFaceGroup[i]]; + m_polyhedron->m_faces.push_back(face); } - } + } @@ -299,6 +317,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures() return true; } +#ifndef MIN + #define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b)) +#endif btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const { @@ -323,17 +344,19 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b btVector3 vtx; btScalar newDot; - for (i=0;i<getNumVertices();i++) - { - getVertex(i,vtx); - newDot = vec.dot(vtx); + for( int k = 0; k < getNumVertices(); k += 128 ) + { + btVector3 temp[128]; + int inner_count = MIN(getNumVertices() - k, 128); + for( i = 0; i < inner_count; i++ ) + getVertex(i,temp[i]); + i = (int) vec.maxDot( temp, inner_count, newDot); if (newDot > maxDot) { maxDot = newDot; - supVec = vtx; - } - } - + supVec = temp[i]; + } + } #endif //__SPU__ return supVec; @@ -356,21 +379,23 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin( for (int j=0;j<numVectors;j++) { - - const btVector3& vec = vectors[j]; - - for (i=0;i<getNumVertices();i++) - { - getVertex(i,vtx); - newDot = vec.dot(vtx); - if (newDot > supportVerticesOut[j][3]) - { - //WARNING: don't swap next lines, the w component would get overwritten! - supportVerticesOut[j] = vtx; + const btVector3& vec = vectors[j]; + + for( int k = 0; k < getNumVertices(); k += 128 ) + { + btVector3 temp[128]; + int inner_count = MIN(getNumVertices() - k, 128); + for( i = 0; i < inner_count; i++ ) + getVertex(i,temp[i]); + i = (int) vec.maxDot( temp, inner_count, newDot); + if (newDot > supportVerticesOut[j][3]) + { + supportVerticesOut[j] = temp[i]; supportVerticesOut[j][3] = newDot; - } - } - } + } + } + } + #endif //__SPU__ } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index ee2e1e28277..961d001a9dd 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -22,7 +22,7 @@ class btConvexPolyhedron; ///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. -class btPolyhedralConvexShape : public btConvexInternalShape +ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape { @@ -31,13 +31,17 @@ protected: btConvexPolyhedron* m_polyhedron; public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + btPolyhedralConvexShape(); virtual ~btPolyhedralConvexShape(); ///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) - virtual bool initializePolyhedralFeatures(); + ///experimental/work-in-progress + virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0); const btConvexPolyhedron* getConvexPolyhedron() const { diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp index 25d58d61bb1..6a337c786c4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -98,9 +98,7 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a btVector3 center = trans(localCenter); - btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), - abs_b[1].dot(localHalfExtents), - abs_b[2].dot(localHalfExtents)); + btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); aabbMin = center - extent; aabbMax = center + extent; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h index ff86ef319e9..39049eaf083 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h @@ -31,6 +31,8 @@ ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h index 642a2887435..e959f198b69 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h @@ -25,7 +25,7 @@ subject to the following restrictions: ///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices. ///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object. ///It approximates the convex hull using the supporting vertex of 42 directions. -class btShapeHull +ATTRIBUTE_ALIGNED16(class) btShapeHull { protected: @@ -37,6 +37,8 @@ protected: static btVector3* getUnitSpherePoints(); public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btShapeHull (const btConvexShape* shape); ~btShapeHull (); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h index b13825e610d..e6e32883959 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h @@ -31,6 +31,8 @@ protected: btVector3 m_localScaling; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant); virtual ~btStaticPlaneShape(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp index dd22fc5635a..b3d449676b9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp @@ -242,7 +242,7 @@ const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s int gfxindex; // btVector3 triangle[3]; - btVector3 meshScaling = getScaling(); + // btVector3 meshScaling = getScaling(); ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype for (part=0;part<graphicssubparts ;part++,memPtr++) diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h index f2b27ade8e8..9fbe139768d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -27,13 +27,15 @@ subject to the following restrictions: /// 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. /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory. -class btStridingMeshInterface +ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface { protected: btVector3 m_scaling; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.)) { diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h index 6b7128efc8e..b69209835ef 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h @@ -22,7 +22,7 @@ subject to the following restrictions: ///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead. -class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape +ATTRIBUTE_ALIGNED16(class) btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape { protected: @@ -30,6 +30,8 @@ protected: btVector3 m_vertices[4]; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btBU_Simplex1to4(); btBU_Simplex1to4(const btVector3& pt0); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h index 1cea7045f20..17deef89d37 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h @@ -123,11 +123,11 @@ SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const { btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer; - tmapData->m_convexEpsilon = m_convexEpsilon; - tmapData->m_planarEpsilon = m_planarEpsilon; - tmapData->m_equalVertexThreshold = m_equalVertexThreshold; - tmapData->m_edgeDistanceThreshold = m_edgeDistanceThreshold; - tmapData->m_zeroAreaThreshold = m_zeroAreaThreshold; + tmapData->m_convexEpsilon = (float)m_convexEpsilon; + tmapData->m_planarEpsilon = (float)m_planarEpsilon; + tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold; + tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold; + tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold; tmapData->m_hashTableSize = m_hashTable.size(); @@ -172,9 +172,9 @@ SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btS btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr; for (int i=0;i<numElem;i++,memPtr++) { - memPtr->m_edgeV0V1Angle = m_valueArray[i].m_edgeV0V1Angle; - memPtr->m_edgeV1V2Angle = m_valueArray[i].m_edgeV1V2Angle; - memPtr->m_edgeV2V0Angle = m_valueArray[i].m_edgeV2V0Angle; + memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle; + memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle; + memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle; memPtr->m_flags = m_valueArray[i].m_flags; } serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp index b29e0f71e62..51a2f8a0739 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -138,3 +138,25 @@ int btTriangleMesh::getNumTriangles() const } return m_16bitIndices.size() / 3; } + +void btTriangleMesh::preallocateVertices(int numverts) +{ + if (m_use4componentVertices) + { + m_4componentVertices.reserve(numverts); + } else + { + m_3componentVertices.reserve(numverts); + } +} + +void btTriangleMesh::preallocateIndices(int numindices) +{ + if (m_use32bitIndices) + { + m_32bitIndices.reserve(numindices); + } else + { + m_16bitIndices.reserve(numindices); + } +} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h index f623157fac1..29d1b5cdaa4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h @@ -55,8 +55,8 @@ class btTriangleMesh : public btTriangleIndexVertexArray int getNumTriangles() const; - virtual void preallocateVertices(int numverts){(void) numverts;} - virtual void preallocateIndices(int numindices){(void) numindices;} + virtual void preallocateVertices(int numverts); + virtual void preallocateIndices(int numindices); ///findOrAddVertex is an internal method, use addTriangle instead int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp index 683684da770..0e17951405c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp @@ -55,13 +55,9 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt btVector3 center = trans(localCenter); - btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), - abs_b[1].dot(localHalfExtents), - abs_b[2].dot(localHalfExtents)); + btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); aabbMin = center - extent; aabbMax = center + extent; - - } void btTriangleMeshShape::recalcLocalAabb() diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h index c8caf8fe696..453e58005a4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h @@ -21,7 +21,7 @@ subject to the following restrictions: ///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead. -class btTriangleMeshShape : public btConcaveShape +ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape { protected: btVector3 m_localAabbMin; @@ -33,6 +33,7 @@ protected: btTriangleMeshShape(btStridingMeshInterface* meshInterface); public: + BT_DECLARE_ALIGNED_ALLOCATOR(); virtual ~btTriangleMeshShape(); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h index 71b0557384e..a8a80f82fe2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h @@ -25,6 +25,8 @@ ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape public: +BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 m_vertices1[3]; virtual int getNumVertices() const @@ -66,7 +68,7 @@ public: btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const { - btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2])); + btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); return m_vertices1[dots.maxAxis()]; } @@ -76,7 +78,7 @@ public: for (int i=0;i<numVectors;i++) { const btVector3& dir = vectors[i]; - btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2])); + btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); supportVerticesOut[i] = m_vertices1[dots.maxAxis()]; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h index cbf7e6fd3ed..a10f58d2429 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.h @@ -21,7 +21,7 @@ subject to the following restrictions: ///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way. ///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it. -class btUniformScalingShape : public btConvexShape +ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape { btConvexShape* m_childConvexShape; @@ -29,6 +29,8 @@ class btUniformScalingShape : public btConvexShape public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btUniformScalingShape( btConvexShape* convexChildShape, btScalar uniformScalingFactor); virtual ~btUniformScalingShape(); |