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-rw-r--r--extern/bullet2/src/LinearMath/btTransformUtil.h165
1 files changed, 80 insertions, 85 deletions
diff --git a/extern/bullet2/src/LinearMath/btTransformUtil.h b/extern/bullet2/src/LinearMath/btTransformUtil.h
index 2303c274275..b874dd6807d 100644
--- a/extern/bullet2/src/LinearMath/btTransformUtil.h
+++ b/extern/bullet2/src/LinearMath/btTransformUtil.h
@@ -12,204 +12,202 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
#ifndef BT_TRANSFORM_UTIL_H
#define BT_TRANSFORM_UTIL_H
#include "btTransform.h"
-#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
-
-
+#define ANGULAR_MOTION_THRESHOLD btScalar(0.5) * SIMD_HALF_PI
-
-SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
+SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents, const btVector3& supportDir)
{
return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
- supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
- supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
+ supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
+ supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
}
-
-
-
-
-
/// Utils related to temporal transforms
class btTransformUtil
{
-
public:
-
- static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform)
+ static void integrateTransform(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btTransform& predictedTransform)
{
predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-// #define QUATERNION_DERIVATIVE
- #ifdef QUATERNION_DERIVATIVE
+ // #define QUATERNION_DERIVATIVE
+#ifdef QUATERNION_DERIVATIVE
btQuaternion predictedOrn = curTrans.getRotation();
predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
- predictedOrn.normalize();
- #else
+ predictedOrn.safeNormalize();
+#else
//Exponential map
//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
btVector3 axis;
- btScalar fAngle = angvel.length();
+ btScalar fAngle2 = angvel.length2();
+ btScalar fAngle = 0;
+ if (fAngle2 > SIMD_EPSILON)
+ {
+ fAngle = btSqrt(fAngle2);
+ }
+
//limit the angular motion
- if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
+ if (fAngle * timeStep > ANGULAR_MOTION_THRESHOLD)
{
fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
}
- if ( fAngle < btScalar(0.001) )
+ if (fAngle < btScalar(0.001))
{
// use Taylor's expansions of sync function
- axis = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle );
+ axis = angvel * (btScalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (btScalar(0.020833333333)) * fAngle * fAngle);
}
else
{
// sync(fAngle) = sin(c*fAngle)/t
- axis = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
+ axis = angvel * (btSin(btScalar(0.5) * fAngle * timeStep) / fAngle);
}
- btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
+ btQuaternion dorn(axis.x(), axis.y(), axis.z(), btCos(fAngle * timeStep * btScalar(0.5)));
btQuaternion orn0 = curTrans.getRotation();
btQuaternion predictedOrn = dorn * orn0;
- predictedOrn.normalize();
- #endif
- predictedTransform.setRotation(predictedOrn);
+ predictedOrn.safeNormalize();
+#endif
+ if (predictedOrn.length2() > SIMD_EPSILON)
+ {
+ predictedTransform.setRotation(predictedOrn);
+ }
+ else
+ {
+ predictedTransform.setBasis(curTrans.getBasis());
+ }
}
- static void calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+ static void calculateVelocityQuaternion(const btVector3& pos0, const btVector3& pos1, const btQuaternion& orn0, const btQuaternion& orn1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
{
linVel = (pos1 - pos0) / timeStep;
btVector3 axis;
- btScalar angle;
+ btScalar angle;
if (orn0 != orn1)
{
- calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+ calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
angVel = axis * angle / timeStep;
- } else
+ }
+ else
{
- angVel.setValue(0,0,0);
+ angVel.setValue(0, 0, 0);
}
}
- static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
+ static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0, const btQuaternion& orn1a, btVector3& axis, btScalar& angle)
{
btQuaternion orn1 = orn0.nearest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse();
angle = dorn.getAngle();
- axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+ axis = btVector3(dorn.x(), dorn.y(), dorn.z());
axis[3] = btScalar(0.);
//check for axis length
btScalar len = axis.length2();
- if (len < SIMD_EPSILON*SIMD_EPSILON)
- axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+ if (len < SIMD_EPSILON * SIMD_EPSILON)
+ axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
else
axis /= btSqrt(len);
}
- static void calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+ static void calculateVelocity(const btTransform& transform0, const btTransform& transform1, btScalar timeStep, btVector3& linVel, btVector3& angVel)
{
linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
btVector3 axis;
- btScalar angle;
- calculateDiffAxisAngle(transform0,transform1,axis,angle);
+ btScalar angle;
+ calculateDiffAxisAngle(transform0, transform1, axis, angle);
angVel = axis * angle / timeStep;
}
- static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
+ static void calculateDiffAxisAngle(const btTransform& transform0, const btTransform& transform1, btVector3& axis, btScalar& angle)
{
btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
btQuaternion dorn;
dmat.getRotation(dorn);
- ///floating point inaccuracy can lead to w component > 1..., which breaks
+ ///floating point inaccuracy can lead to w component > 1..., which breaks
dorn.normalize();
-
+
angle = dorn.getAngle();
- axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+ axis = btVector3(dorn.x(), dorn.y(), dorn.z());
axis[3] = btScalar(0.);
//check for axis length
btScalar len = axis.length2();
- if (len < SIMD_EPSILON*SIMD_EPSILON)
- axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+ if (len < SIMD_EPSILON * SIMD_EPSILON)
+ axis = btVector3(btScalar(1.), btScalar(0.), btScalar(0.));
else
axis /= btSqrt(len);
}
-
};
-
-///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
+///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class btConvexSeparatingDistanceUtil
+class btConvexSeparatingDistanceUtil
{
- btQuaternion m_ornA;
- btQuaternion m_ornB;
- btVector3 m_posA;
- btVector3 m_posB;
-
- btVector3 m_separatingNormal;
+ btQuaternion m_ornA;
+ btQuaternion m_ornB;
+ btVector3 m_posA;
+ btVector3 m_posB;
- btScalar m_boundingRadiusA;
- btScalar m_boundingRadiusB;
- btScalar m_separatingDistance;
+ btVector3 m_separatingNormal;
-public:
+ btScalar m_boundingRadiusA;
+ btScalar m_boundingRadiusB;
+ btScalar m_separatingDistance;
- btConvexSeparatingDistanceUtil(btScalar boundingRadiusA,btScalar boundingRadiusB)
- :m_boundingRadiusA(boundingRadiusA),
- m_boundingRadiusB(boundingRadiusB),
- m_separatingDistance(0.f)
+public:
+ btConvexSeparatingDistanceUtil(btScalar boundingRadiusA, btScalar boundingRadiusB)
+ : m_boundingRadiusA(boundingRadiusA),
+ m_boundingRadiusB(boundingRadiusB),
+ m_separatingDistance(0.f)
{
}
- btScalar getConservativeSeparatingDistance()
+ btScalar getConservativeSeparatingDistance()
{
return m_separatingDistance;
}
- void updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
+ void updateSeparatingDistance(const btTransform& transA, const btTransform& transB)
{
const btVector3& toPosA = transA.getOrigin();
const btVector3& toPosB = transB.getOrigin();
btQuaternion toOrnA = transA.getRotation();
btQuaternion toOrnB = transB.getRotation();
- if (m_separatingDistance>0.f)
+ if (m_separatingDistance > 0.f)
{
-
-
- btVector3 linVelA,angVelA,linVelB,angVelB;
- btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
- btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
+ btVector3 linVelA, angVelA, linVelB, angVelB;
+ btTransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, btScalar(1.), linVelA, angVelA);
+ btTransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, btScalar(1.), linVelB, angVelB);
btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
- btVector3 relLinVel = (linVelB-linVelA);
+ btVector3 relLinVel = (linVelB - linVelA);
btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
- if (relLinVelocLength<0.f)
+ if (relLinVelocLength < 0.f)
{
relLinVelocLength = 0.f;
}
-
- btScalar projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
+
+ btScalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
m_separatingDistance -= projectedMotion;
}
-
+
m_posA = toPosA;
m_posB = toPosB;
m_ornA = toOrnA;
m_ornB = toOrnB;
}
- void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
+ void initSeparatingDistance(const btVector3& separatingVector, btScalar separatingDistance, const btTransform& transA, const btTransform& transB)
{
m_separatingDistance = separatingDistance;
- if (m_separatingDistance>0.f)
+ if (m_separatingDistance > 0.f)
{
m_separatingNormal = separatingVector;
-
+
const btVector3& toPosA = transA.getOrigin();
const btVector3& toPosB = transB.getOrigin();
btQuaternion toOrnA = transA.getRotation();
@@ -220,9 +218,6 @@ public:
m_ornB = toOrnB;
}
}
-
};
-
-#endif //BT_TRANSFORM_UTIL_H
-
+#endif //BT_TRANSFORM_UTIL_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-11 11:45:07 +0300