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Merged changes in the trunk up to revision 35505.

Browse Source 
Conflicts resolved:
source/blender/makesdna/DNA_material_types.h
This commit is contained in:
Tamito Kajiyama
2011-03-13 02:10:39 +00:00
parent 33efa9eeb6 25a2eb4675
commit c8deda3276
448 changed files with 22324 additions and 8756 deletions
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84
CMakeLists.txt
View File

@@ -67,12 +67,12 @@ include(build_files/cmake/macros.cmake)
get_blender_version()
# Blender internal features
option(WITH_INTERNATIONAL "Enable I18N (International fonts and text)" ON)
option(WITH_PYTHON "Enable Embedded Python API" ON)
option(WITH_PYTHON_SAFETY "Enable internal API error checking to track invalid data to prevent crash on access (at the expense of some effeciency)." OFF)
option(WITH_PYTHON_MODULE "Enable building as a python module (experemental)" OFF)
option(WITH_BUILDINFO "Include extra build details" ON)
option(WITH_IK_ITASC "Enable ITASC IK solver" ON)
option(WITH_INTERNATIONAL "Enable I18N (International fonts and text)" ON)
option(WITH_PYTHON "Enable Embedded Python API (only disable for development)" ON)
option(WITH_PYTHON_SAFETY "Enable internal API error checking to track invalid data to prevent crash on access (at the expense of some effeciency, only enable for development)." OFF)
option(WITH_PYTHON_MODULE "Enable building as a python module (experemental, only enable for development)" OFF)
option(WITH_BUILDINFO "Include extra build details (only disable for development & faster builds)" ON)
option(WITH_IK_ITASC "Enable ITASC IK solver (only disable for development & for incompatible C++ compilers)" ON)
option(WITH_FFTW3 "Enable FFTW3 support (Used for smoke and audio effects)" OFF)
option(WITH_BULLET "Enable Bullet (Physics Engine)" ON)
option(WITH_GAMEENGINE "Enable Game Engine" ON)
@@ -126,16 +126,29 @@ option(WITH_LZMA "Enable best LZMA compression, (used for pointcache)"
# Misc
option(WITH_RAYOPTIMIZATION "Enable use of SIMD (SSE) optimizations for the raytracer" ON)
option(WITH_INSTALL "Install accompanying scripts and language files needed to run blender" ON)
if(UNIX AND NOT APPLE)
option(WITH_INSTALL_PORTABLE "Install redistributeable runtime, otherwise install into CMAKE_INSTALL_PREFIX" ON)
endif()
option(WITH_PYTHON_INSTALL "Copy system python into the blender install folder" ON)
# Debug
option(WITH_CXX_GUARDEDALLOC "Enable GuardedAlloc for C++ memory allocation tracking" OFF)
option(WITH_CXX_GUARDEDALLOC "Enable GuardedAlloc for C++ memory allocation tracking (only enable for development)" OFF)
mark_as_advanced(WITH_CXX_GUARDEDALLOC)
option(WITH_ASSERT_ABORT "Call abort() when raising an assertion through BLI_assert()" OFF)
mark_as_advanced(WITH_ASSERT_ABORT)
if(APPLE)
if(NOT CMAKE_OSX_ARCHITECTURES)
set(CMAKE_OSX_ARCHITECTURES x86_64 CACHE STRING
"Choose the architecture you want to build Blender for: i386, x86_64 or ppc"
FORCE)
endif()
if(NOT CMAKE_OSX_DEPLOYMENT_TARGET)
set(CMAKE_OSX_DEPLOYMENT_TARGET 10.5 CACHE STRING
"Choose the minimum OSX version required: 10.4 or 10.5"
FORCE)
endif()
option(WITH_COCOA "Use Cocoa framework instead of deprecated Carbon" ON)
option(USE_QTKIT "Use QtKit instead of Carbon quicktime (needed for having partial quicktime for 64bit)" OFF)
option(WITH_LIBS10.5 "Use 10.5 libs (needed for 64bit builds)" OFF)
@@ -187,9 +200,17 @@ set(CXX_WARNINGS "")
# For alternate Python locations the commandline can be used to override detected/default cache settings, e.g:
# On Unix:
# cmake -D PYTHON_LIBRARY=/usr/local/lib/python3.1/config/libpython3.1.so -D PYTHON_INCLUDE_DIRS=/usr/local/include/python3.1 -G "Unix Makefiles" ../blender
# cmake ../blender \
# -D PYTHON_VERSION=3.2 \
# -D PYTHON_INCLUDE_DIRS=/opt/py32/include/python3.2d \
# -D PYTHON_LIBPATH=/opt/py32/lib \
# -D PYTHON_LIBRARY=python3.2d
#
# On Macs:
# cmake -D PYTHON_INCLUDE_DIRS=/System/Library/Frameworks/Python.framework/Versions/3.1/include/python3.1 -D PYTHON_LIBPATH=/System/Library/Frameworks/Python.framework/Versions/3.1/lib/python3.1/config -G Xcode ../blender
# cmake ../blender \
# -D PYTHON_INCLUDE_DIRS=/System/Library/Frameworks/Python.framework/Versions/3.2/include/python3.2 \
# -D PYTHON_LIBPATH=/System/Library/Frameworks/Python.framework/Versions/3.2/lib/python3.2/config \
# -G Xcode
#
# When changing any of this remember to update the notes in doc/build_systems/cmake.txt
@@ -244,23 +265,19 @@ if(UNIX AND NOT APPLE)
if(WITH_PYTHON)
# No way to set py31. remove for now.
# No way to set py32. remove for now.
# find_package(PythonLibs)
set(PYTHON /usr)
set(PYTHON_VERSION 3.1 CACHE STRING "")
mark_as_advanced(PYTHON_VERSION)
set(PYTHON_INCLUDE_DIRS "${PYTHON}/include/python${PYTHON_VERSION}" CACHE STRING "")
mark_as_advanced(PYTHON_INCLUDE_DIRS)
# set(PYTHON_BINARY python) # not used yet
set(PYTHON_LIBRARY python${PYTHON_VERSION} CACHE STRING "")
mark_as_advanced(PYTHON_LIBRARY)
set(PYTHON_LIBPATH ${PYTHON}/lib CACHE STRING "")
mark_as_advanced(PYTHON_LIBPATH)
# find_package(PythonInterp) # not used yet
# set(PYTHON_BINARY ${PYTHON_EXECUTABLE} CACHE STRING "")
set(PYTHON_LINKFLAGS "-Xlinker -export-dynamic")
mark_as_advanced(PYTHON_LINKFLAGS)
# defines...
# PYTHON_VERSION
# PYTHON_INCLUDE_DIRS
# PYTHON_LIBRARY
# PYTHON_LIBPATH
# PYTHON_LINKFLAGS
include(build_files/cmake/FindPythonLibsUnix.cmake)
endif()
if(WITH_SDL)
@@ -619,9 +636,9 @@ elseif(WIN32)
# MSVC only, Mingw doesnt need
if(CMAKE_CL_64)
set(PLATFORM_LINKFLAGS "/MACHINE:X64 /NODEFAULTLIB:libc.lib ")
set(PLATFORM_LINKFLAGS "/MACHINE:X64 /NODEFAULTLIB:libc.lib /STACK:2097152 ")
else()
set(PLATFORM_LINKFLAGS "/NODEFAULTLIB:libc.lib ")
set(PLATFORM_LINKFLAGS "/NODEFAULTLIB:libc.lib /STACK:2097152 ")
endif()
set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} /NODEFAULTLIB:libcmt.lib;libc.lib ")
@@ -715,16 +732,17 @@ elseif(WIN32)
set(WITH_JACK OFF)
endif()
# TODO: mingw move to Python 3.2
if(WITH_PYTHON)
set(PYTHON ${LIBDIR}/python)
set(PYTHON_VERSION 3.1)
set(PYTHON_VERSION 3.2)
set(PYTHON_INCLUDE_DIRS "${PYTHON}/include/python${PYTHON_VERSION}")
# set(PYTHON_BINARY python) # not used yet
set(PYTHON_LIBRARY python31mw)
set(PYTHON_LIBRARY python32mw)
set(PYTHON_LIBPATH ${PYTHON}/lib)
endif()
set(PLATFORM_LINKFLAGS "--stack,2097152")
endif()
# used in many places so include globally, like OpenGL
@@ -732,6 +750,10 @@ elseif(WIN32)
elseif(APPLE)
if (${CMAKE_OSX_DEPLOYMENT_TARGET} STREQUAL "10.5")
set(WITH_LIBS10.5 ON CACHE BOOL "Use 10.5 libs" FORCE)
endif()
if(WITH_LIBS10.5)
set(LIBDIR ${CMAKE_SOURCE_DIR}/../lib/darwin-9.x.universal)
else()
@@ -770,7 +792,7 @@ elseif(APPLE)
set(PYTHON_VERSION 3.2)
if(PYTHON_VERSION MATCHES 3.2)
# we use precompiled libraries for py 3.1 and up by default
# we use precompiled libraries for py 3.2 and up by default
set(PYTHON ${LIBDIR}/python)
set(PYTHON_INCLUDE_DIRS "${PYTHON}/include/python${PYTHON_VERSION}")
@@ -782,7 +804,7 @@ elseif(APPLE)
# otherwise, use custom system framework
set(PYTHON /System/Library/Frameworks/Python.framework/Versions/)
set(PYTHON_VERSION 3.1)
set(PYTHON_VERSION 3.2)
set(PYTHON_INCLUDE_DIRS "${PYTHON}${PYTHON_VERSION}/include/python${PYTHON_VERSION}")
# set(PYTHON_BINARY ${PYTHON}${PYTHON_VERSION}/bin/python${PYTHON_VERSION}) # not used yet
set(PYTHON_LIBRARY "")

2
GNUmakefile
View File

@@ -75,7 +75,7 @@ all:
@echo
@echo Building Blender ...
cd $(BUILD_DIR) ; make -s -j $(NPROCS)
cd $(BUILD_DIR) ; make -s -j $(NPROCS) install
@echo
@echo run blender from "$(BUILD_DIR)/bin/blender"
@echo

72
build_files/cmake/FindPythonLibsUnix.cmake Normal file
View File

@@ -0,0 +1,72 @@
# - Find python libraries
#
# PYTHON_VERSION
# PYTHON_INCLUDE_DIRS
# PYTHON_LIBRARY
# PYTHON_LIBPATH
# PYTHON_LINKFLAGS
#=============================================================================
set(PYTHON_VERSION 3.2 CACHE STRING "")
mark_as_advanced(PYTHON_VERSION)
set(PYTHON_LINKFLAGS "-Xlinker -export-dynamic")
mark_as_advanced(PYTHON_LINKFLAGS)
set(_Python_ABI_FLAGS
"m;mu;u; ")
string(REPLACE "." "" _PYTHON_VERSION_NO_DOTS ${PYTHON_VERSION})
set(_Python_PATHS
"$ENV{HOME}/py${_PYTHON_VERSION_NO_DOTS}" "/opt/py${_PYTHON_VERSION_NO_DOTS}" "/usr" "/usr/local")
if(NOT DEFINED PYTHON_INCLUDE_DIRS)
message(STATUS "Looking for include Python.h")
set(_Found_PYTHON_H OFF)
foreach(_CURRENT_PATH ${_Python_PATHS})
foreach(_CURRENT_ABI_FLAGS ${_Python_ABI_FLAGS})
if(CMAKE_BUILD_TYPE STREQUAL Debug)
set(_CURRENT_ABI_FLAGS "d${_CURRENT_ABI_FLAGS}")
endif()
string(REPLACE " " "" _CURRENT_ABI_FLAGS ${_CURRENT_ABI_FLAGS})
set(_Python_HEADER "${_CURRENT_PATH}/include/python${PYTHON_VERSION}${_CURRENT_ABI_FLAGS}/Python.h")
if(EXISTS ${_Python_HEADER})
message(STATUS "Checking for header: ${_Python_HEADER} - found")
set(_Found_PYTHON_H ON)
set(PYTHON ${_CURRENT_PATH})
set(PYTHON_ABI_FLAGS ${_CURRENT_ABI_FLAGS})
break()
else()
message(STATUS "Checking for header: ${_Python_HEADER}")
endif()
endforeach()
if(_Found_PYTHON_H)
break()
endif()
endforeach()
if(NOT _Found_PYTHON_H)
message(FATAL_ERROR "Python.h not found")
endif()
endif()
#=============================================================================
# now the python versions are found
set(PYTHON_INCLUDE_DIRS "${PYTHON}/include/python${PYTHON_VERSION}${PYTHON_ABI_FLAGS}" CACHE STRING "")
mark_as_advanced(PYTHON_INCLUDE_DIRS)
set(PYTHON_LIBRARY "python${PYTHON_VERSION}${PYTHON_ABI_FLAGS}" CACHE STRING "")
mark_as_advanced(PYTHON_LIBRARY)
set(PYTHON_LIBPATH ${PYTHON}/lib CACHE STRING "")
mark_as_advanced(PYTHON_LIBPATH)
# set(PYTHON_BINARY ${PYTHON_EXECUTABLE} CACHE STRING "")
if(NOT EXISTS "${PYTHON_INCLUDE_DIRS}/Python.h")
message(FATAL_ERROR " Missing python header: ${PYTHON_INCLUDE_DIRS}/Python.h")
endif()

18
build_files/cmake/packaging.cmake
View File

@@ -33,14 +33,16 @@ set(BUILD_REV ${MY_WC_REVISION})
# Force Package Name
set(CPACK_PACKAGE_FILE_NAME ${PROJECT_NAME}-${BLENDER_VERSION}-r${BUILD_REV}-${CPACK_SYSTEM_NAME}-${CMAKE_SYSTEM_PROCESSOR})
# RPM packages
include(build_files/cmake/RpmBuild.cmake)
if(RPMBUILD_FOUND AND NOT WIN32)
set(CPACK_GENERATOR "RPM")
set(CPACK_SET_DESTDIR TRUE)
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${PROJECT_DESCRIPTION}")
set(CPACK_RPM_PACKAGE_LICENSE "GPLv2")
set(CPACK_RPM_PACKAGE_GROUP "Amusements/Graphics")
if(CMAKE_SYSTEM_NAME MATCHES "Linux")
# RPM packages
include(build_files/cmake/RpmBuild.cmake)
if(RPMBUILD_FOUND AND NOT WIN32)
set(CPACK_GENERATOR "RPM")
set(CPACK_SET_DESTDIR TRUE)
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${PROJECT_DESCRIPTION}")
set(CPACK_RPM_PACKAGE_LICENSE "GPLv2")
set(CPACK_RPM_PACKAGE_GROUP "Amusements/Graphics")
endif()
endif()
# Mac Bundle

1
build_files/package_spec/debian/rules
View File

@@ -15,6 +15,7 @@ override_dh_auto_configure:
# blender spesific CMake options
dh_auto_configure -- \
-DCMAKE_BUILD_TYPE:STRING=Release \
-DWITH_INSTALL_PORTABLE:BOOL=OFF \
-DWITH_PYTHON_INSTALL:BOOL=OFF \
-DWITH_OPENCOLLADA:BOOL=OFF

7
build_files/package_spec/pacman/PKGBUILD
View File

@@ -47,8 +47,13 @@ build() {
cmake $blender_srcdir \
-DCMAKE_INSTALL_PREFIX:PATH=/usr \
-DCMAKE_BUILD_TYPE:STRING=Release \
-DWITH_INSTALL_PORTABLE:BOOL=OFF \
-DWITH_PYTHON_INSTALL:BOOL=OFF \
-DWITH_OPENCOLLADA:BOOL=OFF
-DWITH_OPENCOLLADA:BOOL=OFF \
-DPYTHON_VERSION:STRING=3.2 \
-DPYTHON_LIBPATH:STRING=/usr/lib \
-DPYTHON_LIBRARY:STRING=python3.2mu \
-DPYTHON_INCLUDE_DIRS:STRING=/usr/include/python3.2mu
make $MAKEFLAGS
}

2
build_files/scons/config/aix4-config.py
View File

@@ -8,7 +8,7 @@ WITH_BF_VERSE = 'false'
BF_VERSE_INCLUDE = "#extern/verse/dist"
BF_PYTHON = LCGDIR+'/python'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
WITH_BF_STATICPYTHON = 'true'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'

2
build_files/scons/config/freebsd7-config.py
View File

@@ -6,7 +6,7 @@ LIBDIR = "${LCGDIR}"
BF_PYTHON = '/usr/local'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
WITH_BF_STATICPYTHON = False
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'

2
build_files/scons/config/freebsd8-config.py
View File

@@ -6,7 +6,7 @@ LIBDIR = "${LCGDIR}"
BF_PYTHON = '/usr/local'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
WITH_BF_STATICPYTHON = False
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'

2
build_files/scons/config/freebsd9-config.py
View File

@@ -6,7 +6,7 @@ LIBDIR = "${LCGDIR}"
BF_PYTHON = '/usr/local'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
WITH_BF_STATICPYTHON = False
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'

2
build_files/scons/config/irix6-config.py
View File

@@ -4,7 +4,7 @@ LCGDIR = os.getcwd()+"/../lib/irix-6.5-mips"
LIBDIR = LCGDIR
BF_PYTHON = LCGDIR+'/python'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
WITH_BF_STATICPYTHON = 'true'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'

9
build_files/scons/config/linux2-config.py
View File

@@ -1,15 +1,16 @@
LCGDIR = '../lib/linux2'
LIBDIR = "${LCGDIR}"
BF_PYTHON_ABI_FLAGS = "m" # not a scons option
BF_PYTHON = '/usr'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
WITH_BF_STATICPYTHON = False
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}' + BF_PYTHON_ABI_FLAGS
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}' #BF_PYTHON+'/lib/python'+BF_PYTHON_VERSION+'/config/libpython'+BF_PYTHON_VERSION+'.a'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}' + BF_PYTHON_ABI_FLAGS # BF_PYTHON+'/lib/python'+BF_PYTHON_VERSION+'/config/libpython'+BF_PYTHON_VERSION+'.a'
BF_PYTHON_LINKFLAGS = ['-Xlinker', '-export-dynamic']
BF_PYTHON_LIB_STATIC = '${BF_PYTHON}/lib/libpython${BF_PYTHON_VERSION}.a'
BF_PYTHON_LIB_STATIC = '${BF_PYTHON}/lib/libpython${BF_PYTHON_VERSION}' + BF_PYTHON_ABI_FLAGS + '.a'
WITH_BF_OPENAL = True
WITH_BF_STATICOPENAL = False

4
build_files/scons/config/linuxcross-config.py
View File

@@ -2,7 +2,7 @@ LCGDIR = '#../lib/windows'
LIBDIR = '${LCGDIR}'
BF_PYTHON = LIBDIR + '/python'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = 'python'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION[0]}${BF_PYTHON_VERSION[2]}mw'
@@ -184,6 +184,8 @@ CC_WARN = [ '-Wall' ]
LLIBS = [ '-ldxguid', '-lgdi32', '-lmsvcrt', '-lwinmm', '-lmingw32', '-lm', '-lws2_32', '-lz', '-lstdc++', '-luuid', '-lole32'] #'-lutil', '-lc', '-lm', '-ldl', '-lpthread' ]
PLATFORM_LINKFLAGS = ['--stack,2097152']
BF_DEBUG = False
BF_DEBUG_CCFLAGS = ['-g', '-D_DEBUG']

2
build_files/scons/config/openbsd3-config.py
View File

@@ -2,7 +2,7 @@ LCGDIR = '../lib/openbsd3'
LIBDIR = '${LCGDIR}'
BF_PYTHON = '/usr/local'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}'

2
build_files/scons/config/sunos5-config.py
View File

@@ -2,7 +2,7 @@ LCGDIR = '../lib/sunos5'
LIBDIR = '${LCGDIR}'
BF_PYTHON = '/usr/local'
BF_PYTHON_VERSION = '3.1'
BF_PYTHON_VERSION = '3.2'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}' #BF_PYTHON+'/lib/python'+BF_PYTHON_VERSION+'/config/libpython'+BF_PYTHON_VERSION+'.a'

6
build_files/scons/config/win32-mingw-config.py
View File

@@ -50,7 +50,7 @@ BF_PTHREADS_INC = '${BF_PTHREADS}/include'
BF_PTHREADS_LIB = 'pthreadGC2'
BF_PTHREADS_LIBPATH = '${BF_PTHREADS}/lib'
WITH_BF_OPENEXR = True
WITH_BF_OPENEXR = False # TODO, gives linking problems for the moment.
WITH_BF_STATICOPENEXR = False
BF_OPENEXR = LIBDIR + '/gcc/openexr'
BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
@@ -144,7 +144,7 @@ BF_OPENGL_LIB_STATIC = [ '${BF_OPENGL}/lib/libGL.a', '${BF_OPENGL}/lib/libGLU.a'
'${BF_OPENGL}/lib/libXmu.a', '${BF_OPENGL}/lib/libXext.a',
'${BF_OPENGL}/lib/libX11.a', '${BF_OPENGL}/lib/libXi.a' ]
WITH_BF_COLLADA = True
WITH_BF_COLLADA = False # TODO, gives linking problems at the moment.
BF_COLLADA = '#source/blender/collada'
BF_COLLADA_INC = '${BF_COLLADA}'
BF_COLLADA_LIB = 'bf_collada'
@@ -175,6 +175,8 @@ CC_WARN = [ '-Wall' ]
LLIBS = ['-lshell32', '-lshfolder', '-lgdi32', '-lmsvcrt', '-lwinmm', '-lmingw32', '-lm', '-lws2_32', '-lz', '-lstdc++','-lole32','-luuid']
PLATFORM_LINKFLAGS = ['--stack,2097152']
BF_DEBUG = False
BF_DEBUG_CCFLAGS= ['-g', '-D_DEBUG']

2
build_files/scons/config/win32-vc-config.py
View File

@@ -187,7 +187,7 @@ CXX_WARN = []
LLIBS = ['ws2_32', 'vfw32', 'winmm', 'kernel32', 'user32', 'gdi32', 'comdlg32', 'advapi32', 'shfolder', 'shell32', 'ole32', 'oleaut32', 'uuid']
PLATFORM_LINKFLAGS = ['/SUBSYSTEM:CONSOLE','/MACHINE:IX86','/INCREMENTAL:NO','/NODEFAULTLIB:"msvcprt.lib"','/NODEFAULTLIB:"msvcprtd.lib"','/NODEFAULTLIB:"glut32.lib"','/NODEFAULTLIB:"libc.lib"','/NODEFAULTLIB:"libcd.lib"','/NODEFAULTLIB:"libcpd.lib"','/NODEFAULTLIB:"libcp.lib"','/NODEFAULTLIB:"msvcrt.lib"', '/NODEFAULTLIB:"msvcrtd.lib"', '/NODEFAULTLIB:"msvcmrt.lib"', '/NODEFAULTLIB:"msvcurt.lib"', '/LARGEADDRESSAWARE']
PLATFORM_LINKFLAGS = ['/SUBSYSTEM:CONSOLE','/MACHINE:IX86','/STACK:2097152','/INCREMENTAL:NO','/NODEFAULTLIB:"msvcprt.lib"','/NODEFAULTLIB:"msvcprtd.lib"','/NODEFAULTLIB:"glut32.lib"','/NODEFAULTLIB:"libc.lib"','/NODEFAULTLIB:"libcd.lib"','/NODEFAULTLIB:"libcpd.lib"','/NODEFAULTLIB:"libcp.lib"','/NODEFAULTLIB:"msvcrt.lib"', '/NODEFAULTLIB:"msvcrtd.lib"', '/NODEFAULTLIB:"msvcmrt.lib"', '/NODEFAULTLIB:"msvcurt.lib"', '/LARGEADDRESSAWARE']
# # Todo
# BF_PROFILE_CCFLAGS = ['-pg', '-g ']

2
build_files/scons/config/win64-vc-config.py
View File

@@ -194,7 +194,7 @@ if BF_DEBUG:
else:
BF_NUMJOBS=6
PLATFORM_LINKFLAGS = ['/SUBSYSTEM:CONSOLE','/MACHINE:X64','/INCREMENTAL:NO','/NODEFAULTLIB:"msvcprt.lib"','/NODEFAULTLIB:"msvcprtd.lib"','/NODEFAULTLIB:"glut32.lib"','/NODEFAULTLIB:"libc.lib"','/NODEFAULTLIB:"libcd.lib"','/NODEFAULTLIB:"libcpd.lib"','/NODEFAULTLIB:"libcp.lib"','/NODEFAULTLIB:"msvcrt.lib"', '/NODEFAULTLIB:"msvcrtd.lib"', '/NODEFAULTLIB:"msvcmrt.lib"', '/NODEFAULTLIB:"msvcurt.lib"']
PLATFORM_LINKFLAGS = ['/SUBSYSTEM:CONSOLE','/MACHINE:X64','/STACK:2097152','/INCREMENTAL:NO','/NODEFAULTLIB:"msvcprt.lib"','/NODEFAULTLIB:"msvcprtd.lib"','/NODEFAULTLIB:"glut32.lib"','/NODEFAULTLIB:"libc.lib"','/NODEFAULTLIB:"libcd.lib"','/NODEFAULTLIB:"libcpd.lib"','/NODEFAULTLIB:"libcp.lib"','/NODEFAULTLIB:"msvcrt.lib"', '/NODEFAULTLIB:"msvcrtd.lib"', '/NODEFAULTLIB:"msvcmrt.lib"', '/NODEFAULTLIB:"msvcurt.lib"']
BF_BUILDDIR = '..\\build\\blender25-win64-vc'
BF_INSTALLDIR='..\\install\\blender25-win64-vc'

103
build_files/scons/tools/Blender.py
View File

@@ -20,7 +20,7 @@ import string
import glob
import time
import sys
import zipfile
import tarfile
import shutil
import cStringIO
import platform
@@ -399,89 +399,13 @@ def set_quiet_output(env):
if env['BF_LINE_OVERWRITE']:
SCons.Action._ActionAction.print_cmd_line = my_print_cmd_line
class CompZipFile(zipfile.ZipFile):
"""Partial copy of python2.6's zipfile.ZipFile (see http://www.python.org)
to get a extractall() that works on py2.5 and probably earlier distributions."""
def __init__(self, file, mode="r", compression=zipfile.ZIP_STORED, allowZip64=False):
if sys.version_info < (2, 6):
zipfile.ZipFile.__init__(self, file, mode, compression)
else:
zipfile.ZipFile.__init__(self, file, mode, compression, allowZip64)
if not hasattr(self,"extractall"): # use our method
print "Debug: Using comp_extractall!"
self.extractall= self.comp_extractall
def comp_extractall(self, path=None, members=None, pwd=None): #renamed method
"""Extract all members from the archive to the current working
directory. `path' specifies a different directory to extract to.
`members' is optional and must be a subset of the list returned
by namelist().
"""
if members is None:
members = self.namelist()
for zipinfo in members:
self.comp_extract(zipinfo, path, pwd) # use our method
def comp_extract(self, member, path=None, pwd=None): #renamed method
"""Extract a member from the archive to the current working directory,
using its full name. Its file information is extracted as accurately
as possible. `member' may be a filename or a ZipInfo object. You can
specify a different directory using `path'.
"""
if not isinstance(member, zipfile.ZipInfo):
member = self.getinfo(member)
if path is None:
path = os.getcwd()
return self.comp_extract_member(member, path, pwd) # use our method
def comp_extract_member(self, member, targetpath, pwd): #renamed method
"""Extract the ZipInfo object 'member' to a physical
file on the path targetpath.
"""
# build the destination pathname, replacing
# forward slashes to platform specific separators.
if targetpath[-1:] in (os.path.sep, os.path.altsep):
targetpath = targetpath[:-1]
# don't include leading "/" from file name if present
if member.filename[0] == '/':
targetpath = os.path.join(targetpath, member.filename[1:])
else:
targetpath = os.path.join(targetpath, member.filename)
targetpath = os.path.normpath(targetpath)
# Create all upper directories if necessary.
upperdirs = os.path.dirname(targetpath)
if upperdirs and not os.path.exists(upperdirs):
os.makedirs(upperdirs)
if member.filename[-1] == '/':
os.mkdir(targetpath)
return targetpath
#use StrinIO instead so we don't have to reproduce more functionality.
source = cStringIO.StringIO(self.read(member.filename))
target = file(targetpath, "wb")
shutil.copyfileobj(source, target)
source.close()
target.close()
return targetpath
def unzip_pybundle(from_zip,to_dir,exclude_re):
zip= CompZipFile(from_zip, mode='r')
def untar_pybundle(from_tar,to_dir,exclude_re):
tar= tarfile.open(from_tar, mode='r')
exclude_re= list(exclude_re) #single re object or list of re objects
debug= 0 #list files instead of unpacking
good= []
if debug: print '\nFiles not being unpacked:\n'
for name in zip.namelist():
for name in tar.getnames():
is_bad= 0
for r in exclude_re:
if r.match(name):
@@ -489,26 +413,26 @@ def unzip_pybundle(from_zip,to_dir,exclude_re):
if debug: print name
break
if not is_bad:
good.append(name)
good.append(tar.getmember(name))
if debug:
print '\nFiles being unpacked:\n'
for g in good:
print g
else:
zip.extractall(to_dir, good)
tar.extractall(to_dir, good)
def my_winpybundle_print(target, source, env):
pass
def WinPyBundle(target=None, source=None, env=None):
import re
py_zip= env.subst( env['LCGDIR'] )
if py_zip[0]=='#':
py_zip= py_zip[1:]
py_tar= env.subst( env['LCGDIR'] )
if py_tar[0]=='#':
py_tar= py_tar[1:]
if env['BF_DEBUG']:
py_zip+= '/release/python' + env['BF_PYTHON_VERSION'].replace('.','') + '_d.zip'
py_tar+= '/release/python' + env['BF_PYTHON_VERSION'].replace('.','') + '_d.tar.gz'
else:
py_zip+= '/release/python' + env['BF_PYTHON_VERSION'].replace('.','') + '.zip'
py_tar+= '/release/python' + env['BF_PYTHON_VERSION'].replace('.','') + '.tar.gz'
py_target = env.subst( env['BF_INSTALLDIR'] )
if py_target[0]=='#':
@@ -525,8 +449,8 @@ def WinPyBundle(target=None, source=None, env=None):
re.compile('^idlelib/.*'),
re.compile('^lib2to3/.*'),
re.compile('^tkinter/.*')]
print "Unpacking '" + py_zip + "' to '" + py_target + "'"
unzip_pybundle(py_zip,py_target,exclude_re)
print "Unpacking '" + py_tar + "' to '" + py_target + "'"
untar_pybundle(py_tar,py_target,exclude_re)
def my_appit_print(target, source, env):
a = '%s' % (target[0])
@@ -546,6 +470,7 @@ def AppIt(target=None, source=None, env=None):
installdir = env['BF_INSTALLDIR']
print("compiled architecture: %s"%(osxarch))
print("Installing to %s"%(installdir))
# TODO, use tar.
python_zip = 'python_' + osxarch + '.zip' # set specific python_arch.zip
print("unzipping to app-bundle: %s"%(python_zip))
bldroot = env.Dir('.').abspath

10
extern/bullet2/CMakeLists.txt vendored
View File

@@ -107,7 +107,6 @@ set(SRC
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -119,6 +118,7 @@ set(SRC
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -132,6 +132,7 @@ set(SRC
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
src/BulletDynamics/Vehicle/btWheelInfo.cpp
src/BulletSoftBody/btDefaultSoftBodySolver.cpp
src/BulletSoftBody/btSoftBody.cpp
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -143,6 +144,8 @@ set(SRC
src/LinearMath/btConvexHull.cpp
src/LinearMath/btGeometryUtil.cpp
src/LinearMath/btQuickprof.cpp
src/LinearMath/btSerializer.cpp
src/Bullet-C-Api.h
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -247,7 +250,6 @@ set(SRC
src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -264,6 +266,7 @@ set(SRC
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@@ -282,6 +285,7 @@ set(SRC
src/BulletDynamics/Vehicle/btRaycastVehicle.h
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
src/BulletDynamics/Vehicle/btWheelInfo.h
src/BulletSoftBody/btDefaultSoftBodySolver.h
src/BulletSoftBody/btSoftBody.h
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
src/BulletSoftBody/btSoftBodyHelpers.h
@@ -310,11 +314,13 @@ set(SRC
src/LinearMath/btQuickprof.h
src/LinearMath/btRandom.h
src/LinearMath/btScalar.h
src/LinearMath/btSerializer.h
src/LinearMath/btSimdMinMax.h
src/LinearMath/btStackAlloc.h
src/LinearMath/btTransform.h
src/LinearMath/btTransformUtil.h
src/LinearMath/btVector3.h
src/btBulletCollisionCommon.h
src/btBulletDynamicsCommon.h
)

1
extern/bullet2/src/Bullet-C-Api.h vendored
View File

@@ -147,6 +147,7 @@ extern "C" {
extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
extern void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
typedef struct plRayCastResult {
plRigidBodyHandle m_body;

27
extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h vendored
View File

@@ -150,6 +150,8 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
@@ -285,6 +287,31 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,cons
}
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
if (m_raycastAccelerator)
{
m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback);
} else
{
//choose axis?
BP_FP_INT_TYPE axis = 0;
//for each proxy
for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
{
if (m_pEdges[axis][i].IsMax())
{
Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
if (TestAabbAgainstAabb2(aabbMin,aabbMax,handle->m_aabbMin,handle->m_aabbMax))
{
callback.process(handle);
}
}
}
}
}
template <typename BP_FP_INT_TYPE>

14
extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h vendored
View File

@@ -26,7 +26,14 @@ class btOverlappingPairCache;
struct btBroadphaseRayCallback
struct btBroadphaseAabbCallback
{
virtual ~btBroadphaseAabbCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
{
///added some cached data to accelerate ray-AABB tests
btVector3 m_rayDirectionInverse;
@@ -34,7 +41,6 @@ struct btBroadphaseRayCallback
btScalar m_lambda_max;
virtual ~btBroadphaseRayCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
#include "LinearMath/btVector3.h"
@@ -54,6 +60,8 @@ public:
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
@@ -65,7 +73,7 @@ public:
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
///reset broadphase internal structures, to ensure determinism/reproducability
virtual void resetPool(btDispatcher* dispatcher) {};
virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
virtual void printStats() = 0;

19
extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h vendored
View File

@@ -46,6 +46,8 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
UNIFORM_SCALING_SHAPE_PROXYTYPE,
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
BOX_2D_SHAPE_PROXYTYPE,
CONVEX_2D_SHAPE_PROXYTYPE,
CUSTOM_CONVEX_SHAPE_TYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
@@ -139,6 +141,11 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
return (proxyType < CONCAVE_SHAPES_START_HERE);
}
static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
{
return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
}
static SIMD_FORCE_INLINE bool isConcave(int proxyType)
{
return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
@@ -148,14 +155,22 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
{
return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
{
return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
{
return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
}
}
;

4
extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h vendored
View File

@@ -44,7 +44,7 @@ struct btCollisionAlgorithmConstructionInfo
btDispatcher* m_dispatcher1;
btPersistentManifold* m_manifold;
int getDispatcherId();
// int getDispatcherId();
};
@@ -59,7 +59,7 @@ protected:
btDispatcher* m_dispatcher;
protected:
int getDispatcherId();
// int getDispatcherId();
public:

6
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.cpp vendored
View File

@@ -61,7 +61,7 @@ static void getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
if(node->isinternal())
{
getmaxdepth(node->childs[0],depth+1,maxdepth);
getmaxdepth(node->childs[0],depth+1,maxdepth);
getmaxdepth(node->childs[1],depth+1,maxdepth);
} else maxdepth=btMax(maxdepth,depth);
}
@@ -238,7 +238,7 @@ static void split( const tNodeArray& leaves,
right.resize(0);
for(int i=0,ni=leaves.size();i<ni;++i)
{
if(dot(axis,leaves[i]->volume.Center()-org)<0)
if(btDot(axis,leaves[i]->volume.Center()-org)<0)
left.push_back(leaves[i]);
else
right.push_back(leaves[i]);
@@ -319,7 +319,7 @@ static btDbvtNode* topdown(btDbvt* pdbvt,
const btVector3 x=leaves[i]->volume.Center()-org;
for(int j=0;j<3;++j)
{
++splitcount[j][dot(x,axis[j])>0?1:0];
++splitcount[j][btDot(x,axis[j])>0?1:0];
}
}
for( i=0;i<3;++i)

25
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h vendored
View File

@@ -32,7 +32,7 @@ subject to the following restrictions:
#define DBVT_IMPL_SSE 1 // SSE
// Template implementation of ICollide
#ifdef WIN32
#ifdef _WIN32
#if (defined (_MSC_VER) && _MSC_VER >= 1400)
#define DBVT_USE_TEMPLATE 1
#else
@@ -57,7 +57,7 @@ subject to the following restrictions:
// Specific methods implementation
//SSE gives errors on a MSVC 7.1
#ifdef BT_USE_SSE
#if defined (BT_USE_SSE) && defined (_WIN32)
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#define DBVT_INT0_IMPL DBVT_IMPL_SSE
@@ -92,7 +92,7 @@ subject to the following restrictions:
#endif
#if DBVT_USE_MEMMOVE
#ifndef __CELLOS_LV2__
#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>
@@ -484,8 +484,8 @@ DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) con
case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z());
pi=btVector3(mi.x(),mi.y(),mi.z());break;
}
if((dot(n,px)+o)<0) return(-1);
if((dot(n,pi)+o)>=0) return(+1);
if((btDot(n,px)+o)<0) return(-1);
if((btDot(n,pi)+o)>=0) return(+1);
return(0);
}
@@ -496,7 +496,7 @@ DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned si
const btVector3 p( b[(signs>>0)&1]->x(),
b[(signs>>1)&1]->y(),
b[(signs>>2)&1]->z());
return(dot(p,v));
return(btDot(p,v));
}
//
@@ -947,6 +947,7 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
const btVector3& aabbMax,
DBVT_IPOLICY) const
{
(void) rayTo;
DBVT_CHECKTYPE
if(root)
{
@@ -961,8 +962,8 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
do
{
const btDbvtNode* node=stack[--depth];
bounds[0] = node->volume.Mins()+aabbMin;
bounds[1] = node->volume.Maxs()+aabbMax;
bounds[0] = node->volume.Mins()-aabbMax;
bounds[1] = node->volume.Maxs()-aabbMin;
btScalar tmin=1.f,lambda_min=0.f;
unsigned int result1=false;
result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
@@ -1000,11 +1001,11 @@ inline void btDbvt::rayTest( const btDbvtNode* root,
btVector3 rayDir = (rayTo-rayFrom);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
btScalar lambda_max = rayDir.dot(rayTo-rayFrom);

75
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@ 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.
*/
///btDbvtBroadphase implementation by Nathanael Presson
#include "btDbvtBroadphase.h"
@@ -123,7 +124,7 @@ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
m_deferedcollide = false;
m_needcleanup = true;
m_releasepaircache = (paircache!=0)?false:true;
m_prediction = 1/(btScalar)2;
m_prediction = 0;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;
@@ -249,6 +250,34 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
}
struct BroadphaseAabbTester : btDbvt::ICollide
{
btBroadphaseAabbCallback& m_aabbCallback;
BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
:m_aabbCallback(orgCallback)
{
}
void Process(const btDbvtNode* leaf)
{
btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
m_aabbCallback.process(proxy);
}
};
void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
{
BroadphaseAabbTester callback(aabbCallback);
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
//process all children, that overlap with the given AABB bounds
m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
}
//
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
@@ -316,6 +345,47 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
}
}
//
void btDbvtBroadphase::setAabbForceUpdate( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
const btVector3& aabbMax,
btDispatcher* /*dispatcher*/)
{
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
bool docollide=false;
if(proxy->stage==STAGECOUNT)
{/* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf=m_sets[0].insert(aabb,proxy);
docollide=true;
}
else
{/* dynamic set */
++m_updates_call;
/* Teleporting */
m_sets[0].update(proxy->leaf,aabb);
++m_updates_done;
docollide=true;
}
listremove(proxy,m_stageRoots[proxy->stage]);
proxy->m_aabbMin = aabbMin;
proxy->m_aabbMax = aabbMax;
proxy->stage = m_stageCurrent;
listappend(proxy,m_stageRoots[m_stageCurrent]);
if(docollide)
{
m_needcleanup=true;
if(!m_deferedcollide)
{
btDbvtTreeCollider collider(this);
m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
}
}
}
//
void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
@@ -571,7 +641,6 @@ void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
m_deferedcollide = false;
m_needcleanup = true;
m_prediction = 1/(btScalar)2;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;

48
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@ 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.
*/
///btDbvtBroadphase implementation by Nathanael Presson
#ifndef BT_DBVT_BROADPHASE_H
#define BT_DBVT_BROADPHASE_H
@@ -101,26 +102,45 @@ struct btDbvtBroadphase : btBroadphaseInterface
~btDbvtBroadphase();
void collide(btDispatcher* dispatcher);
void optimize();
/* btBroadphaseInterface Implementation */
/* btBroadphaseInterface Implementation */
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
void calculateOverlappingPairs(btDispatcher* dispatcher);
btOverlappingPairCache* getOverlappingPairCache();
const btOverlappingPairCache* getOverlappingPairCache() const;
void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
void printStats();
static void benchmark(btBroadphaseInterface*);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
virtual btOverlappingPairCache* getOverlappingPairCache();
virtual const btOverlappingPairCache* getOverlappingPairCache() const;
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
virtual void printStats();
void performDeferredRemoval(btDispatcher* dispatcher);
///reset broadphase internal structures, to ensure determinism/reproducability
virtual void resetPool(btDispatcher* dispatcher);
void performDeferredRemoval(btDispatcher* dispatcher);
void setVelocityPrediction(btScalar prediction)
{
m_prediction = prediction;
}
btScalar getVelocityPrediction() const
{
return m_prediction;
}
///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
///http://code.google.com/p/bullet/issues/detail?id=223
void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
static void benchmark(btBroadphaseInterface*);
};
#endif

4
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h vendored
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@@ -46,8 +46,9 @@ struct btDispatcherInfo
m_enableSPU(true),
m_useEpa(true),
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(true),
m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
m_convexMaxDistanceUseCPT(false),
m_stackAllocator(0)
{
@@ -64,6 +65,7 @@ struct btDispatcherInfo
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
bool m_convexMaxDistanceUseCPT;
btStackAlloc* m_stackAllocator;
};

4
extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h vendored
View File

@@ -133,8 +133,8 @@ public:
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);

4
extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp vendored
View File

@@ -240,7 +240,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
}*/
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expand();
void* mem = &m_overlappingPairArray.expandNonInitializing();
//this is where we add an actual pair, so also call the 'ghost'
if (m_ghostPairCallback)
@@ -467,7 +467,7 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
void* mem = &m_overlappingPairArray.expand();
void* mem = &m_overlappingPairArray.expandNonInitializing();
btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
gOverlappingPairs++;

1
extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h vendored
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@@ -457,6 +457,7 @@ public:
virtual void sortOverlappingPairs(btDispatcher* dispatcher)
{
(void) dispatcher;
}

259
extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp vendored
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@@ -17,6 +17,7 @@ subject to the following restrictions:
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btSerializer.h"
#define RAYAABB2
@@ -78,10 +79,10 @@ void btQuantizedBvh::buildInternal()
#ifdef DEBUG_PATCH_COLORS
btVector3 color[4]=
{
btVector3(255,0,0),
btVector3(0,255,0),
btVector3(0,0,255),
btVector3(0,255,255)
btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1),
btVector3(0,1,1)
};
#endif //DEBUG_PATCH_COLORS
@@ -474,9 +475,9 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
lambda_max = rayDir.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
#endif
@@ -493,8 +494,8 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
bounds[0] = rootNode->m_aabbMinOrg;
bounds[1] = rootNode->m_aabbMaxOrg;
/* Add box cast extents */
bounds[0] += aabbMin;
bounds[1] += aabbMax;
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
//perhaps profile if it is worth doing the aabbOverlap test first
@@ -561,9 +562,9 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
rayDirection.normalize ();
lambda_max = rayDirection.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[2];
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
#endif
@@ -617,8 +618,8 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
/* Add box cast extents */
bounds[0] += aabbMin;
bounds[1] += aabbMax;
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
btVector3 normal;
#if 0
bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
@@ -830,7 +831,7 @@ unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
}
unsigned btQuantizedBvh::calculateSerializeBufferSize()
unsigned btQuantizedBvh::calculateSerializeBufferSize() const
{
unsigned baseSize = sizeof(btQuantizedBvh) + getAlignmentSerializationPadding();
baseSize += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
@@ -841,7 +842,7 @@ unsigned btQuantizedBvh::calculateSerializeBufferSize()
return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
}
bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
{
btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
m_subtreeHeaderCount = m_SubtreeHeaders.size();
@@ -1143,6 +1144,232 @@ m_bulletVersion(BT_BULLET_VERSION)
}
void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData)
{
m_bvhAabbMax.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMax);
m_bvhAabbMin.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMin);
m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
m_useQuantization = quantizedBvhFloatData.m_useQuantization!=0;
{
int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
m_contiguousNodes.resize(numElem);
if (numElem)
{
btOptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
}
}
}
{
int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
m_quantizedContiguousNodes.resize(numElem);
if (numElem)
{
btQuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
}
}
}
m_traversalMode = btTraversalMode(quantizedBvhFloatData.m_traversalMode);
{
int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
m_SubtreeHeaders.resize(numElem);
if (numElem)
{
btBvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
}
}
}
}
void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData)
{
m_bvhAabbMax.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMax);
m_bvhAabbMin.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMin);
m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
m_useQuantization = quantizedBvhDoubleData.m_useQuantization!=0;
{
int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
m_contiguousNodes.resize(numElem);
if (numElem)
{
btOptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
}
}
}
{
int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
m_quantizedContiguousNodes.resize(numElem);
if (numElem)
{
btQuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
}
}
}
m_traversalMode = btTraversalMode(quantizedBvhDoubleData.m_traversalMode);
{
int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
m_SubtreeHeaders.resize(numElem);
if (numElem)
{
btBvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
}
}
}
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
{
btQuantizedBvhData* quantizedData = (btQuantizedBvhData*)dataBuffer;
m_bvhAabbMax.serialize(quantizedData->m_bvhAabbMax);
m_bvhAabbMin.serialize(quantizedData->m_bvhAabbMin);
m_bvhQuantization.serialize(quantizedData->m_bvhQuantization);
quantizedData->m_curNodeIndex = m_curNodeIndex;
quantizedData->m_useQuantization = m_useQuantization;
quantizedData->m_numContiguousLeafNodes = m_contiguousNodes.size();
quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*) (m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
if (quantizedData->m_contiguousNodesPtr)
{
int sz = sizeof(btOptimizedBvhNodeData);
int numElem = m_contiguousNodes.size();
btChunk* chunk = serializer->allocate(sz,numElem);
btOptimizedBvhNodeData* memPtr = (btOptimizedBvhNodeData*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.serialize(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.serialize(memPtr->m_aabbMinOrg);
memPtr->m_escapeIndex = m_contiguousNodes[i].m_escapeIndex;
memPtr->m_subPart = m_contiguousNodes[i].m_subPart;
memPtr->m_triangleIndex = m_contiguousNodes[i].m_triangleIndex;
}
serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]);
}
quantizedData->m_numQuantizedContiguousNodes = m_quantizedContiguousNodes.size();
// printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
quantizedData->m_quantizedContiguousNodesPtr =(btQuantizedBvhNodeData*) (m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
if (quantizedData->m_quantizedContiguousNodesPtr)
{
int sz = sizeof(btQuantizedBvhNodeData);
int numElem = m_quantizedContiguousNodes.size();
btChunk* chunk = serializer->allocate(sz,numElem);
btQuantizedBvhNodeData* memPtr = (btQuantizedBvhNodeData*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
memPtr->m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex;
memPtr->m_quantizedAabbMax[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[0];
memPtr->m_quantizedAabbMax[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[1];
memPtr->m_quantizedAabbMax[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[2];
memPtr->m_quantizedAabbMin[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[0];
memPtr->m_quantizedAabbMin[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[1];
memPtr->m_quantizedAabbMin[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[2];
}
serializer->finalizeChunk(chunk,"btQuantizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_quantizedContiguousNodes[0]);
}
quantizedData->m_traversalMode = int(m_traversalMode);
quantizedData->m_numSubtreeHeaders = m_SubtreeHeaders.size();
quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*) (m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
if (quantizedData->m_subTreeInfoPtr)
{
int sz = sizeof(btBvhSubtreeInfoData);
int numElem = m_SubtreeHeaders.size();
btChunk* chunk = serializer->allocate(sz,numElem);
btBvhSubtreeInfoData* memPtr = (btBvhSubtreeInfoData*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
memPtr->m_quantizedAabbMax[0] = m_SubtreeHeaders[i].m_quantizedAabbMax[0];
memPtr->m_quantizedAabbMax[1] = m_SubtreeHeaders[i].m_quantizedAabbMax[1];
memPtr->m_quantizedAabbMax[2] = m_SubtreeHeaders[i].m_quantizedAabbMax[2];
memPtr->m_quantizedAabbMin[0] = m_SubtreeHeaders[i].m_quantizedAabbMin[0];
memPtr->m_quantizedAabbMin[1] = m_SubtreeHeaders[i].m_quantizedAabbMin[1];
memPtr->m_quantizedAabbMin[2] = m_SubtreeHeaders[i].m_quantizedAabbMin[2];
memPtr->m_rootNodeIndex = m_SubtreeHeaders[i].m_rootNodeIndex;
memPtr->m_subtreeSize = m_SubtreeHeaders[i].m_subtreeSize;
}
serializer->finalizeChunk(chunk,"btBvhSubtreeInfoData",BT_ARRAY_CODE,(void*)&m_SubtreeHeaders[0]);
}
return btQuantizedBvhDataName;
}

112
extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h vendored
View File

@@ -16,6 +16,8 @@ subject to the following restrictions:
#ifndef QUANTIZED_BVH_H
#define QUANTIZED_BVH_H
class btSerializer;
//#define DEBUG_CHECK_DEQUANTIZATION 1
#ifdef DEBUG_CHECK_DEQUANTIZATION
#ifdef __SPU__
@@ -29,6 +31,17 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btQuantizedBvhData btQuantizedBvhDoubleData
#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
#else
#define btQuantizedBvhData btQuantizedBvhFloatData
#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
#define btQuantizedBvhDataName "btQuantizedBvhFloatData"
#endif
//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
@@ -190,7 +203,7 @@ protected:
BvhSubtreeInfoArray m_SubtreeHeaders;
//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
int m_subtreeHeaderCount;
mutable int m_subtreeHeaderCount;
@@ -443,17 +456,32 @@ public:
return m_SubtreeHeaders;
}
////////////////////////////////////////////////////////////////////
/////Calculate space needed to store BVH for serialization
unsigned calculateSerializeBufferSize();
unsigned calculateSerializeBufferSize() const;
/// Data buffer MUST be 16 byte aligned
virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
static unsigned int getAlignmentSerializationPadding();
//////////////////////////////////////////////////////////////////////
virtual int calculateSerializeBufferSizeNew() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
virtual void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
virtual void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
////////////////////////////////////////////////////////////////////
SIMD_FORCE_INLINE bool isQuantized()
{
@@ -470,4 +498,82 @@ private:
;
struct btBvhSubtreeInfoData
{
int m_rootNodeIndex;
int m_subtreeSize;
unsigned short m_quantizedAabbMin[3];
unsigned short m_quantizedAabbMax[3];
};
struct btOptimizedBvhNodeFloatData
{
btVector3FloatData m_aabbMinOrg;
btVector3FloatData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
struct btOptimizedBvhNodeDoubleData
{
btVector3DoubleData m_aabbMinOrg;
btVector3DoubleData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
struct btQuantizedBvhNodeData
{
unsigned short m_quantizedAabbMin[3];
unsigned short m_quantizedAabbMax[3];
int m_escapeIndexOrTriangleIndex;
};
struct btQuantizedBvhFloatData
{
btVector3FloatData m_bvhAabbMin;
btVector3FloatData m_bvhAabbMax;
btVector3FloatData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
};
struct btQuantizedBvhDoubleData
{
btVector3DoubleData m_bvhAabbMin;
btVector3DoubleData m_bvhAabbMax;
btVector3DoubleData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
};
SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
{
return sizeof(btQuantizedBvhData);
}
#endif //QUANTIZED_BVH_H

19
extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp vendored
View File

@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include <new>
extern int gOverlappingPairs;
@@ -166,6 +168,23 @@ void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo
}
void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
for (int i=0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
if(!proxy->m_clientObject)
{
continue;
}
if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
{
callback.process(proxy);
}
}
}

5
extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h vendored
View File

@@ -136,6 +136,7 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
btOverlappingPairCache* getOverlappingPairCache()
{
@@ -153,8 +154,8 @@ public:
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
virtual void printStats()

64
extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp vendored
View File

@@ -37,7 +37,7 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
btVector3 point,normal;
btScalar timeOfImpact = btScalar(1.);
btScalar depth = btScalar(0.);
// output.m_distance = btScalar(1e30);
// output.m_distance = btScalar(BT_LARGE_FLOAT);
//move sphere into triangle space
btTransform sphereInTr = transformB.inverseTimes(transformA);
@@ -57,8 +57,6 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
}
#define MAX_OVERLAP btScalar(0.)
// See also geometrictools.com
@@ -93,48 +91,39 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve
return pointInTriangle(vertices, lnormal, &lp);
}
///combined discrete/continuous sphere-triangle
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
{
const btVector3* vertices = &m_triangle->getVertexPtr(0);
const btVector3& c = sphereCenter;
btScalar r = m_sphere->getRadius();
btVector3 delta (0,0,0);
btScalar radius = m_sphere->getRadius();
btScalar radiusWithThreshold = radius + contactBreakingThreshold;
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize();
btVector3 p1ToCentre = c - vertices[0];
btVector3 p1ToCentre = sphereCenter - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal);
if (distanceFromPlane < btScalar(0.))
{
//triangle facing the other way
distanceFromPlane *= btScalar(-1.);
normal *= btScalar(-1.);
}
btScalar contactMargin = contactBreakingThreshold;
bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
bool isInsideShellPlane = distanceFromPlane < r;
bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
btScalar deltaDotNormal = delta.dot(normal);
if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
return false;
// Check for contact / intersection
bool hasContact = false;
btVector3 contactPoint;
if (isInsideContactPlane) {
if (facecontains(c,vertices,normal)) {
if (facecontains(sphereCenter,vertices,normal)) {
// Inside the contact wedge - touches a point on the shell plane
hasContact = true;
contactPoint = c - normal*distanceFromPlane;
contactPoint = sphereCenter - normal*distanceFromPlane;
} else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
@@ -143,7 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
m_triangle->getEdge(i,pa,pb);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) {
// Yep, we're inside a capsule
hasContact = true;
@@ -155,24 +144,27 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
}
if (hasContact) {
btVector3 contactToCentre = c - contactPoint;
btVector3 contactToCentre = sphereCenter - contactPoint;
btScalar distanceSqr = contactToCentre.length2();
if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(r-distance);
if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
{
if (distanceSqr>SIMD_EPSILON)
{
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(radius-distance);
} else
{
btScalar distance = 0.f;
resultNormal = normal;
point = contactPoint;
depth = -radius;
}
return true;
}
if (delta.dot(contactToCentre) >= btScalar(0.0))
return false;
// Moving towards the contact point -> collision
point = contactPoint;
timeOfImpact = btScalar(0.0);
return true;
}
return false;

4
extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h vendored
View File

@@ -34,9 +34,11 @@ struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
virtual ~SphereTriangleDetector() {};
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
private:
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);

435
extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp vendored Normal file
View File

@@ -0,0 +1,435 @@
/*
Bullet Continuous Collision Detection and Physics Library
* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
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.
*/
///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
#include "btBox2dBox2dCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
#define USE_PERSISTENT_CONTACTS 1
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btActivatingCollisionAlgorithm(ci,obj0,obj1),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_ownManifold = true;
}
}
btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
//#include <stdio.h>
void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
resultOut->setPersistentManifold(m_manifoldPtr);
b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}
btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
{
//not yet
return 1.f;
}
struct ClipVertex
{
btVector3 v;
int id;
//b2ContactID id;
//b2ContactID id;
};
#define b2Dot(a,b) (a).dot(b)
#define b2Mul(a,b) (a)*(b)
#define b2MulT(a,b) (a).transpose()*(b)
#define b2Cross(a,b) (a).cross(b)
#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
int b2_maxManifoldPoints =2;
static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
const btVector3& normal, btScalar offset)
{
// Start with no output points
int numOut = 0;
// Calculate the distance of end points to the line
btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
// If the points are behind the plane
if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
// If the points are on different sides of the plane
if (distance0 * distance1 < 0.0f)
{
// Find intersection point of edge and plane
btScalar interp = distance0 / (distance0 - distance1);
vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
if (distance0 > 0.0f)
{
vOut[numOut].id = vIn[0].id;
}
else
{
vOut[numOut].id = vIn[1].id;
}
++numOut;
}
return numOut;
}
// Find the separation between poly1 and poly2 for a give edge normal on poly1.
static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2)
{
const btVector3* vertices1 = poly1->getVertices();
const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices();
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Convert normal from poly1's frame into poly2's frame.
btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
// Find support vertex on poly2 for -normal.
int index = 0;
btScalar minDot = BT_LARGE_FLOAT;
for (int i = 0; i < count2; ++i)
{
btScalar dot = b2Dot(vertices2[i], normal1);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
btVector3 v2 = b2Mul(xf2, vertices2[index]);
btScalar separation = b2Dot(v2 - v1, normal1World);
return separation;
}
// Find the max separation between poly1 and poly2 using edge normals from poly1.
static btScalar FindMaxSeparation(int* edgeIndex,
const btBox2dShape* poly1, const btTransform& xf1,
const btBox2dShape* poly2, const btTransform& xf2)
{
int count1 = poly1->getVertexCount();
const btVector3* normals1 = poly1->getNormals();
// Vector pointing from the centroid of poly1 to the centroid of poly2.
btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
// Find edge normal on poly1 that has the largest projection onto d.
int edge = 0;
btScalar maxDot = -BT_LARGE_FLOAT;
for (int i = 0; i < count1; ++i)
{
btScalar dot = b2Dot(normals1[i], dLocal1);
if (dot > maxDot)
{
maxDot = dot;
edge = i;
}
}
// Get the separation for the edge normal.
btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
if (s > 0.0f)
{
return s;
}
// Check the separation for the previous edge normal.
int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
if (sPrev > 0.0f)
{
return sPrev;
}
// Check the separation for the next edge normal.
int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
if (sNext > 0.0f)
{
return sNext;
}
// Find the best edge and the search direction.
int bestEdge;
btScalar bestSeparation;
int increment;
if (sPrev > s && sPrev > sNext)
{
increment = -1;
bestEdge = prevEdge;
bestSeparation = sPrev;
}
else if (sNext > s)
{
increment = 1;
bestEdge = nextEdge;
bestSeparation = sNext;
}
else
{
*edgeIndex = edge;
return s;
}
// Perform a local search for the best edge normal.
for ( ; ; )
{
if (increment == -1)
edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
else
edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
if (s > 0.0f)
{
return s;
}
if (s > bestSeparation)
{
bestEdge = edge;
bestSeparation = s;
}
else
{
break;
}
}
*edgeIndex = bestEdge;
return bestSeparation;
}
static void FindIncidentEdge(ClipVertex c[2],
const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2)
{
const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices();
const btVector3* normals2 = poly2->getNormals();
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Get the normal of the reference edge in poly2's frame.
btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
// Find the incident edge on poly2.
int index = 0;
btScalar minDot = BT_LARGE_FLOAT;
for (int i = 0; i < count2; ++i)
{
btScalar dot = b2Dot(normal1, normals2[i]);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
// Build the clip vertices for the incident edge.
int i1 = index;
int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
c[0].v = b2Mul(xf2, vertices2[i1]);
// c[0].id.features.referenceEdge = (unsigned char)edge1;
// c[0].id.features.incidentEdge = (unsigned char)i1;
// c[0].id.features.incidentVertex = 0;
c[1].v = b2Mul(xf2, vertices2[i2]);
// c[1].id.features.referenceEdge = (unsigned char)edge1;
// c[1].id.features.incidentEdge = (unsigned char)i2;
// c[1].id.features.incidentVertex = 1;
}
// Find edge normal of max separation on A - return if separating axis is found
// Find edge normal of max separation on B - return if separation axis is found
// Choose reference edge as min(minA, minB)
// Find incident edge
// Clip
// The normal points from 1 to 2
void b2CollidePolygons(btManifoldResult* manifold,
const btBox2dShape* polyA, const btTransform& xfA,
const btBox2dShape* polyB, const btTransform& xfB)
{
int edgeA = 0;
btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
if (separationA > 0.0f)
return;
int edgeB = 0;
btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
if (separationB > 0.0f)
return;
const btBox2dShape* poly1; // reference poly
const btBox2dShape* poly2; // incident poly
btTransform xf1, xf2;
int edge1; // reference edge
unsigned char flip;
const btScalar k_relativeTol = 0.98f;
const btScalar k_absoluteTol = 0.001f;
// TODO_ERIN use "radius" of poly for absolute tolerance.
if (separationB > k_relativeTol * separationA + k_absoluteTol)
{
poly1 = polyB;
poly2 = polyA;
xf1 = xfB;
xf2 = xfA;
edge1 = edgeB;
flip = 1;
}
else
{
poly1 = polyA;
poly2 = polyB;
xf1 = xfA;
xf2 = xfB;
edge1 = edgeA;
flip = 0;
}
ClipVertex incidentEdge[2];
FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
int count1 = poly1->getVertexCount();
const btVector3* vertices1 = poly1->getVertices();
btVector3 v11 = vertices1[edge1];
btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
btVector3 dv = v12 - v11;
btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
sideNormal.normalize();
btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
v11 = b2Mul(xf1, v11);
v12 = b2Mul(xf1, v12);
btScalar frontOffset = b2Dot(frontNormal, v11);
btScalar sideOffset1 = -b2Dot(sideNormal, v11);
btScalar sideOffset2 = b2Dot(sideNormal, v12);
// Clip incident edge against extruded edge1 side edges.
ClipVertex clipPoints1[2];
clipPoints1[0].v.setValue(0,0,0);
clipPoints1[1].v.setValue(0,0,0);
ClipVertex clipPoints2[2];
clipPoints2[0].v.setValue(0,0,0);
clipPoints2[1].v.setValue(0,0,0);
int np;
// Clip to box side 1
np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
if (np < 2)
return;
// Clip to negative box side 1
np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
if (np < 2)
{
return;
}
// Now clipPoints2 contains the clipped points.
btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
int pointCount = 0;
for (int i = 0; i < b2_maxManifoldPoints; ++i)
{
btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
if (separation <= 0.0f)
{
//b2ManifoldPoint* cp = manifold->points + pointCount;
//btScalar separation = separation;
//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
// cp->id = clipPoints2[i].id;
// cp->id.features.flip = flip;
++pointCount;
}
}
// manifold->pointCount = pointCount;}
}

66
extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h vendored Normal file
View File

@@ -0,0 +1,66 @@
/*
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 BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
///box-box collision detection
class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
public:
btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
virtual ~btBox2dBox2dCollisionAlgorithm();
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
if (m_manifoldPtr && m_ownManifold)
{
manifoldArray.push_back(m_manifoldPtr);
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
}
};
};
#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H

2
extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp vendored
View File

@@ -61,7 +61,7 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();

57
extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp vendored
View File

@@ -1,4 +1,3 @@
/*
* Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
* Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
@@ -212,7 +211,7 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
a = 1.f/(btScalar(3.0)*(a+q));
} else
{
a=1e30f;
a=BT_LARGE_FLOAT;
}
cx = a*(cx + q*(p[n*2-2]+p[0]));
cy = a*(cy + q*(p[n*2-1]+p[1]));
@@ -267,7 +266,7 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
{
const btScalar fudge_factor = btScalar(1.05);
btVector3 p,pp,normalC;
btVector3 p,pp,normalC(0.f,0.f,0.f);
const btScalar *normalR = 0;
btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;
@@ -333,9 +332,9 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
#undef TST
#define TST(expr1,expr2,n1,n2,n3,cc) \
s2 = btFabs(expr1) - (expr2); \
if (s2 > 0) return 0; \
if (s2 > SIMD_EPSILON) return 0; \
l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
if (l > 0) { \
if (l > SIMD_EPSILON) { \
s2 /= l; \
if (s2*fudge_factor > s) { \
s = s2; \
@@ -346,6 +345,20 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
} \
}
btScalar fudge2 (1.0e-5f);
Q11 += fudge2;
Q12 += fudge2;
Q13 += fudge2;
Q21 += fudge2;
Q22 += fudge2;
Q23 += fudge2;
Q31 += fudge2;
Q32 += fudge2;
Q33 += fudge2;
// separating axis = u1 x (v1,v2,v3)
TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
@@ -424,6 +437,7 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
output.addContactPoint(-normal,pointInWorld,-*depth);
#else
output.addContactPoint(-normal,pb,-*depth);
#endif //
*return_code = code;
}
@@ -593,21 +607,30 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
if (maxc < 1) maxc = 1;
if (cnum <= maxc) {
if (code<4)
{
// we have less contacts than we need, so we use them all
for (j=0; j < cnum; j++) {
//AddContactPoint...
//dContactGeom *con = CONTACT(contact,skip*j);
//for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
//con->depth = dep[j];
for (j=0; j < cnum; j++)
{
btVector3 pointInWorld;
for (i=0; i<3; i++)
pointInWorld[i] = point[j*3+i] + pa[i];
output.addContactPoint(-normal,pointInWorld,-dep[j]);
}
} else
{
// we have less contacts than we need, so we use them all
for (j=0; j < cnum; j++)
{
btVector3 pointInWorld;
for (i=0; i<3; i++)
pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j];
//pointInWorld[i] = point[j*3+i] + pa[i];
output.addContactPoint(-normal,pointInWorld,-dep[j]);
}
}
}
else {
// we have more contacts than are wanted, some of them must be culled.
@@ -632,7 +655,13 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
btVector3 posInWorld;
for (i=0; i<3; i++)
posInWorld[i] = point[iret[j]*3+i] + pa[i];
output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
if (code<4)
{
output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
} else
{
output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]);
}
}
cnum = maxc;
}

16
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp vendored
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@@ -34,9 +34,7 @@ int gNumManifold = 0;
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):
m_count(0),
m_useIslands(true),
m_staticWarningReported(false),
m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
m_collisionConfiguration(collisionConfiguration)
{
int i;
@@ -79,9 +77,11 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ?
btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
: gContactBreakingThreshold ;
btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
@@ -169,13 +169,13 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
bool needsCollision = true;
#ifdef BT_DEBUG
if (!m_staticWarningReported)
if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
{
m_staticWarningReported = true;
m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}

28
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h vendored
View File

@@ -42,14 +42,13 @@ typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispa
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
int m_count;
protected:
int m_dispatcherFlags;
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
bool m_useIslands;
bool m_staticWarningReported;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
@@ -59,13 +58,28 @@ class btCollisionDispatcher : public btDispatcher
btPoolAllocator* m_persistentManifoldPoolAllocator;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionConfiguration* m_collisionConfiguration;
public:
enum DispatcherFlags
{
CD_STATIC_STATIC_REPORTED = 1,
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
};
int getDispatcherFlags() const
{
return m_dispatcherFlags;
}
void setDispatcherFlags(int flags)
{
m_dispatcherFlags = flags;
}
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);

54
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp vendored
View File

@@ -15,13 +15,15 @@ subject to the following restrictions:
#include "btCollisionObject.h"
#include "LinearMath/btSerializer.h"
btCollisionObject::btCollisionObject()
: m_anisotropicFriction(1.f,1.f,1.f),
m_hasAnisotropicFriction(false),
m_contactProcessingThreshold(0.f),
m_contactProcessingThreshold(BT_LARGE_FLOAT),
m_broadphaseHandle(0),
m_collisionShape(0),
m_extensionPointer(0),
m_rootCollisionShape(0),
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
m_islandTag1(-1),
@@ -30,14 +32,14 @@ btCollisionObject::btCollisionObject()
m_deactivationTime(btScalar(0.)),
m_friction(btScalar(0.5)),
m_restitution(btScalar(0.)),
m_userObjectPointer(0),
m_internalType(CO_COLLISION_OBJECT),
m_userObjectPointer(0),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
{
m_worldTransform.setIdentity();
}
btCollisionObject::~btCollisionObject()
@@ -64,5 +66,51 @@ void btCollisionObject::activate(bool forceActivation)
}
}
const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
m_worldTransform.serialize(dataOut->m_worldTransform);
m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
dataOut->m_broadphaseHandle = 0;
dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
dataOut->m_rootCollisionShape = 0;//@todo
dataOut->m_collisionFlags = m_collisionFlags;
dataOut->m_islandTag1 = m_islandTag1;
dataOut->m_companionId = m_companionId;
dataOut->m_activationState1 = m_activationState1;
dataOut->m_activationState1 = m_activationState1;
dataOut->m_deactivationTime = m_deactivationTime;
dataOut->m_friction = m_friction;
dataOut->m_restitution = m_restitution;
dataOut->m_internalType = m_internalType;
char* name = (char*) serializer->findNameForPointer(this);
dataOut->m_name = (char*)serializer->getUniquePointer(name);
if (dataOut->m_name)
{
serializer->serializeName(name);
}
dataOut->m_hitFraction = m_hitFraction;
dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
dataOut->m_checkCollideWith = m_checkCollideWith;
return btCollisionObjectDataName;
}
void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
{
int len = calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);
const char* structType = serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
}

137
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h vendored
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@@ -27,13 +27,21 @@ subject to the following restrictions:
struct btBroadphaseProxy;
class btCollisionShape;
struct btCollisionShapeData;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
#ifdef BT_USE_DOUBLE_PRECISION
#define btCollisionObjectData btCollisionObjectDoubleData
#define btCollisionObjectDataName "btCollisionObjectDoubleData"
#else
#define btCollisionObjectData btCollisionObjectFloatData
#define btCollisionObjectDataName "btCollisionObjectFloatData"
#endif
/// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@@ -53,12 +61,14 @@ protected:
btVector3 m_interpolationLinearVelocity;
btVector3 m_interpolationAngularVelocity;
btVector3 m_anisotropicFriction;
bool m_hasAnisotropicFriction;
btScalar m_contactProcessingThreshold;
btVector3 m_anisotropicFriction;
int m_hasAnisotropicFriction;
btScalar m_contactProcessingThreshold;
btBroadphaseProxy* m_broadphaseHandle;
btCollisionShape* m_collisionShape;
///m_extensionPointer is used by some internal low-level Bullet extensions.
void* m_extensionPointer;
///m_rootCollisionShape is temporarily used to store the original collision shape
///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
@@ -76,13 +86,13 @@ protected:
btScalar m_friction;
btScalar m_restitution;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
///do not assign your own m_internalType unless you write a new dynamics object class.
int m_internalType;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
///time of impact calculation
btScalar m_hitFraction;
@@ -93,9 +103,7 @@ protected:
btScalar m_ccdMotionThreshold;
/// If some object should have elaborate collision filtering by sub-classes
bool m_checkCollideWith;
char m_pad[7];
int m_checkCollideWith;
virtual bool checkCollideWithOverride(btCollisionObject* /* co */)
{
@@ -112,18 +120,21 @@ public:
CF_KINEMATIC_OBJECT= 2,
CF_NO_CONTACT_RESPONSE = 4,
CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
CF_CHARACTER_OBJECT = 16
CF_CHARACTER_OBJECT = 16,
CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
};
enum CollisionObjectTypes
{
CO_COLLISION_OBJECT =1,
CO_RIGID_BODY,
CO_RIGID_BODY=2,
///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
///It is useful for collision sensors, explosion objects, character controller etc.
CO_GHOST_OBJECT,
CO_SOFT_BODY,
CO_HF_FLUID
CO_GHOST_OBJECT=4,
CO_SOFT_BODY=8,
CO_HF_FLUID=16,
CO_USER_TYPE=32
};
SIMD_FORCE_INLINE bool mergesSimulationIslands() const
@@ -143,7 +154,7 @@ public:
}
bool hasAnisotropicFriction() const
{
return m_hasAnisotropicFriction;
return m_hasAnisotropicFriction!=0;
}
///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
@@ -213,6 +224,19 @@ public:
m_collisionShape = collisionShape;
}
///Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
void* internalGetExtensionPointer() const
{
return m_extensionPointer;
}
///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
void internalSetExtensionPointer(void* pointer)
{
m_extensionPointer = pointer;
}
SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;}
void setActivationState(int newState);
@@ -393,7 +417,7 @@ public:
/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
void setCcdMotionThreshold(btScalar ccdMotionThreshold)
{
m_ccdMotionThreshold = ccdMotionThreshold*ccdMotionThreshold;
m_ccdMotionThreshold = ccdMotionThreshold;
}
///users can point to their objects, userPointer is not used by Bullet
@@ -416,6 +440,85 @@ public:
return true;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
virtual void serializeSingleObject(class btSerializer* serializer) const;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCollisionObjectDoubleData
{
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
char *m_name;
btTransformDoubleData m_worldTransform;
btTransformDoubleData m_interpolationWorldTransform;
btVector3DoubleData m_interpolationLinearVelocity;
btVector3DoubleData m_interpolationAngularVelocity;
btVector3DoubleData m_anisotropicFriction;
double m_contactProcessingThreshold;
double m_deactivationTime;
double m_friction;
double m_restitution;
double m_hitFraction;
double m_ccdSweptSphereRadius;
double m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
char m_padding[4];
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCollisionObjectFloatData
{
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
char *m_name;
btTransformFloatData m_worldTransform;
btTransformFloatData m_interpolationWorldTransform;
btVector3FloatData m_interpolationLinearVelocity;
btVector3FloatData m_interpolationAngularVelocity;
btVector3FloatData m_anisotropicFriction;
float m_contactProcessingThreshold;
float m_deactivationTime;
float m_friction;
float m_restitution;
float m_hitFraction;
float m_ccdSweptSphereRadius;
float m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
};
SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
{
return sizeof(btCollisionObjectData);
}
#endif //COLLISION_OBJECT_H

875
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp vendored
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File diff suppressed because it is too large Load Diff

144
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h vendored
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@@ -1,5 +1,5 @@
/*
Bullet Continuous Collision Detection and Physics %Library
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
@@ -15,50 +15,48 @@ subject to the following restrictions:
/**
* \file btCollisionWorld.h
* \ingroup bullet
*
* @page bulletdoc Bullet Documentation
* @mainpage Bullet Documentation
*
* @section intro_sec Introduction
* Bullet Collision Detection & Physics SDK
*
* Bullet is a Collision Detection and Rigid Body Dynamics %Library. The %Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
* Please visit http://www.bulletphysics.com
*
* @section install_sec Installation
*
* @subsection step1 Step 1: Download
* You can download the Bullet Physics %Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
* You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
*
* @subsection step2 Step 2: Building
* Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
* The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
*
* Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
* So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
* Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
* If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
* Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
* cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
* The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
* You can also use cmake in the command-line. Here are some examples for various platforms:
* cmake . -G "Visual Studio 9 2008"
* cmake . -G Xcode
* cmake . -G "Unix Makefiles"
* Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
*
* @subsection step3 Step 3: Testing demos
* Try to run and experiment with BasicDemo executable as a starting point.
* Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector %Library or Low Level / Snippets like the GJK Closest Point calculation.
* Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
* The Dependencies can be seen in this documentation under Directories
*
* @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
* Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
* Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
* @subsection step5 Step 5 : Integrate the Collision Detection %Library (without Dynamics and other Extras)
* @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
* Bullet Collision Detection can also be used without the Dynamics/Extras.
* Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
* @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
*
* @section copyright Copyright
* Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
* For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
*
*/
@@ -71,6 +69,8 @@ class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
class btSerializer;
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
@@ -97,7 +97,12 @@ protected:
btIDebugDraw* m_debugDrawer;
///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs
///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
bool m_forceUpdateAllAabbs;
void serializeCollisionObjects(btSerializer* serializer);
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
@@ -150,6 +155,10 @@ public:
return m_debugDrawer;
}
virtual void debugDrawWorld();
virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
///LocalShapeInfo gives extra information for complex shapes
///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
@@ -255,6 +264,45 @@ public:
}
};
struct AllHitsRayResultCallback : public RayResultCallback
{
AllHitsRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
:m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld)
{
}
btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_rayToWorld;
btAlignedObjectArray<btVector3> m_hitNormalWorld;
btAlignedObjectArray<btVector3> m_hitPointWorld;
btAlignedObjectArray<btScalar> m_hitFractions;
virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
{
m_collisionObject = rayResult.m_collisionObject;
m_collisionObjects.push_back(rayResult.m_collisionObject);
btVector3 hitNormalWorld;
if (normalInWorldSpace)
{
hitNormalWorld = rayResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
}
m_hitNormalWorld.push_back(hitNormalWorld);
btVector3 hitPointWorld;
hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
m_hitPointWorld.push_back(hitPointWorld);
m_hitFractions.push_back(rayResult.m_hitFraction);
return m_closestHitFraction;
}
};
struct LocalConvexResult
{
@@ -350,6 +398,34 @@ public:
}
};
///ContactResultCallback is used to report contact points
struct ContactResultCallback
{
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
ContactResultCallback()
:m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter)
{
}
virtual ~ContactResultCallback()
{
}
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
{
bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
};
int getNumCollisionObjects() const
{
return int(m_collisionObjects.size());
@@ -359,10 +435,18 @@ public:
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
/// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
///it reports one or more contact points (including the one with deepest penetration)
void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
@@ -380,7 +464,7 @@ public:
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
btCollisionObjectArray& getCollisionObjectArray()
{
@@ -393,7 +477,7 @@ public:
}
void removeCollisionObject(btCollisionObject* collisionObject);
virtual void removeCollisionObject(btCollisionObject* collisionObject);
virtual void performDiscreteCollisionDetection();
@@ -406,6 +490,18 @@ public:
{
return m_dispatchInfo;
}
bool getForceUpdateAllAabbs() const
{
return m_forceUpdateAllAabbs;
}
void setForceUpdateAllAabbs( bool forceUpdateAllAabbs)
{
m_forceUpdateAllAabbs = forceUpdateAllAabbs;
}
///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
virtual void serialize(btSerializer* serializer);
};

41
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp vendored
View File

@@ -114,8 +114,9 @@ public:
void ProcessChildShape(btCollisionShape* childShape,int index)
{
btAssert(index>=0);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
btAssert(index<compoundShape->getNumChildShapes());
//backup
@@ -142,6 +143,15 @@ public:
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObj)
{
m_resultOut->setShapeIdentifiersA(-1,index);
} else
{
m_resultOut->setShapeIdentifiersB(-1,index);
}
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
@@ -224,7 +234,7 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
resultOut->setPersistentManifold(0);//??necessary?
}
}
manifoldArray.clear();
manifoldArray.resize(0);
}
}
}
@@ -257,20 +267,24 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
int numChildren = m_childCollisionAlgorithms.size();
int i;
btManifoldArray manifoldArray;
btCollisionShape* childShape = 0;
btTransform orgTrans;
btTransform orgInterpolationTrans;
btTransform newChildWorldTrans;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
for (i=0;i<numChildren;i++)
{
if (m_childCollisionAlgorithms[i])
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm
btTransform orgTrans = colObj->getWorldTransform();
btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform();
orgTrans = colObj->getWorldTransform();
orgInterpolationTrans = colObj->getInterpolationWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
@@ -280,13 +294,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
m_childCollisionAlgorithms[i] = 0;
}
}
}
}
}
@@ -311,13 +320,15 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
int numChildren = m_childCollisionAlgorithms.size();
int i;
btTransform orgTrans;
btScalar frac;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
orgTrans = colObj->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
@@ -325,7 +336,7 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;

247
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp vendored Normal file
View File

@@ -0,0 +1,247 @@
/*
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 "btConvex2dConvex2dAlgorithm.h"
//#include <stdio.h>
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_numPerturbationIterations = 0;
m_minimumPointsPerturbationThreshold = 3;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false),
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
(void)body0;
(void)body1;
}
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
{
m_lowLevelOfDetail = useLowLevel;
}
extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut->getPersistentManifold()->clearManifold();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
{
btGjkPairDetector::ClosestPointInput input;
btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}
btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
///col0->m_worldTransform,
btScalar resultFraction = btScalar(1.);
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
squareMot1 < col1->getCcdSquareMotionThreshold())
return resultFraction;
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
/// Convex0 against sphere for Convex1
{
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction()> result.m_fraction)
col0->setHitFraction( result.m_fraction );
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
/// Sphere (for convex0) against Convex1
{
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction() > result.m_fraction)
col0->setHitFraction( result.m_fraction);
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
return resultFraction;
}

95
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h vendored Normal file
View File

@@ -0,0 +1,95 @@
/*
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 CONVEX_2D_CONVEX_2D_ALGORITHM_H
#define CONVEX_2D_CONVEX_2D_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
class btConvexPenetrationDepthSolver;
///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
{
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_pdSolver;
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
int m_numPerturbationIterations;
int m_minimumPointsPerturbationThreshold;
public:
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
virtual ~btConvex2dConvex2dAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{
///should we use m_ownManifold to avoid adding duplicates?
if (m_manifoldPtr && m_ownManifold)
manifoldArray.push_back(m_manifoldPtr);
}
void setLowLevelOfDetail(bool useLowLevel);
const btPersistentManifold* getManifold()
{
return m_manifoldPtr;
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
int m_numPerturbationIterations;
int m_minimumPointsPerturbationThreshold;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
};
};
#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H

16
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp vendored
View File

@@ -95,7 +95,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
btVector3 color(255,255,0);
btVector3 color(1,1,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
@@ -121,12 +121,16 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
if (m_resultOut->getBody0Internal() == m_triBody)
{
m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
}
else
{
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
}
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);

211
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp vendored
View File

@@ -13,6 +13,11 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance
///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
///with reproduction case
//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
#include "btConvexConvexAlgorithm.h"
//#include <stdio.h>
@@ -20,6 +25,9 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -43,9 +51,128 @@ subject to the following restrictions:
///////////
static SIMD_FORCE_INLINE void segmentsClosestPoints(
btVector3& ptsVector,
btVector3& offsetA,
btVector3& offsetB,
btScalar& tA, btScalar& tB,
const btVector3& translation,
const btVector3& dirA, btScalar hlenA,
const btVector3& dirB, btScalar hlenB )
{
// compute the parameters of the closest points on each line segment
btScalar dirA_dot_dirB = btDot(dirA,dirB);
btScalar dirA_dot_trans = btDot(dirA,translation);
btScalar dirB_dot_trans = btDot(dirB,translation);
btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
if ( denom == 0.0f ) {
tA = 0.0f;
} else {
tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
}
tB = tA * dirA_dot_dirB - dirB_dot_trans;
if ( tB < -hlenB ) {
tB = -hlenB;
tA = tB * dirA_dot_dirB + dirA_dot_trans;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
} else if ( tB > hlenB ) {
tB = hlenB;
tA = tB * dirA_dot_dirB + dirA_dot_trans;
if ( tA < -hlenA )
tA = -hlenA;
else if ( tA > hlenA )
tA = hlenA;
}
// compute the closest points relative to segment centers.
offsetA = dirA * tA;
offsetB = dirB * tB;
ptsVector = translation - offsetA + offsetB;
}
static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
btVector3& normalOnB,
btVector3& pointOnB,
btScalar capsuleLengthA,
btScalar capsuleRadiusA,
btScalar capsuleLengthB,
btScalar capsuleRadiusB,
int capsuleAxisA,
int capsuleAxisB,
const btTransform& transformA,
const btTransform& transformB,
btScalar distanceThreshold )
{
btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
btVector3 translationA = transformA.getOrigin();
btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB);
btVector3 translationB = transformB.getOrigin();
// translation between centers
btVector3 translation = translationB - translationA;
// compute the closest points of the capsule line segments
btVector3 ptsVector; // the vector between the closest points
btVector3 offsetA, offsetB; // offsets from segment centers to their closest points
btScalar tA, tB; // parameters on line segment
segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation,
directionA, capsuleLengthA, directionB, capsuleLengthB );
btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
if ( distance > distanceThreshold )
return distance;
btScalar lenSqr = ptsVector.length2();
if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON))
{
//degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
btVector3 q;
btPlaneSpace1(directionA,normalOnB,q);
} else
{
// compute the contact normal
normalOnB = ptsVector*-btRecipSqrt(lenSqr);
}
pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB;
return distance;
}
//////////
@@ -69,7 +196,7 @@ m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false),
#ifdef USE_SEPDISTANCE_UTIL2
,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
#endif
m_numPerturbationIterations(numPerturbationIterations),
@@ -111,8 +238,8 @@ struct btPerturbedContactResult : public btManifoldResult
:m_originalManifoldResult(originalResult),
m_transformA(transformA),
m_transformB(transformB),
m_perturbA(perturbA),
m_unPerturbedTransform(unPerturbedTransform),
m_perturbA(perturbA),
m_debugDrawer(debugDrawer)
{
}
@@ -155,6 +282,7 @@ struct btPerturbedContactResult : public btManifoldResult
extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
@@ -176,8 +304,39 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
{
btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
btVector3 localScalingA = capsuleA->getLocalScaling();
btVector3 localScalingB = capsuleB->getLocalScaling();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
body0->getWorldTransform(),body1->getWorldTransform(),threshold);
if (dist<threshold)
{
btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
}
resultOut->refreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#ifdef USE_SEPDISTANCE_UTIL2
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
@@ -194,31 +353,55 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = 1e30f;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
} else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
if (dispatchInfo.m_convexMaxDistanceUseCPT)
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
} else
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
}
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
btVector3 v0,v1;
btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
#ifdef USE_SEPDISTANCE_UTIL2
btScalar sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
@@ -248,6 +431,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
for ( i=0;i<m_numPerturbationIterations;i++)
{
if (v0.length2()>SIMD_EPSILON)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
@@ -271,7 +456,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
}
}
}
@@ -279,7 +464,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
}

3
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h vendored
View File

@@ -31,7 +31,8 @@ class btConvexPenetrationDepthSolver;
///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
///for certain pairs that have a small size ratio
///#define USE_SEPDISTANCE_UTIL2 1
//#define USE_SEPDISTANCE_UTIL2 1
///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.

4
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp vendored
View File

@@ -102,9 +102,9 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
//const btScalar& planeConstant = planeShape->getPlaneConstant();
//first perform a collision query with the non-perturbated collision objects
{

4
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h vendored
View File

@@ -60,8 +60,8 @@ public:
int m_minimumPointsPerturbationThreshold;
CreateFunc()
: m_numPerturbationIterations(3),
m_minimumPointsPerturbationThreshold(3)
: m_numPerturbationIterations(1),
m_minimumPointsPerturbationThreshold(1)
{
}

23
extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp vendored
View File

@@ -45,17 +45,17 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
m_simplexSolver = new (mem)btVoronoiSimplexSolver();
#define USE_EPA 1
#ifdef USE_EPA
mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
#else
mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
#endif//USE_EPA
if (constructionInfo.m_useEpaPenetrationAlgorithm)
{
mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
}else
{
mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
}
//default CreationFunctions, filling the m_doubleDispatch table
mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
@@ -102,7 +102,8 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int sl = sizeof(btConvexSeparatingDistanceUtil);
sl = sizeof(btGjkPairDetector);
int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
if (constructionInfo.m_stackAlloc)

11
extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h vendored
View File

@@ -27,7 +27,9 @@ struct btDefaultCollisionConstructionInfo
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
int m_customCollisionAlgorithmMaxElementSize;
int m_defaultStackAllocatorSize;
int m_useEpaPenetrationAlgorithm;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
@@ -35,7 +37,9 @@ struct btDefaultCollisionConstructionInfo
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(4096),
m_defaultMaxCollisionAlgorithmPoolSize(4096),
m_defaultStackAllocatorSize(0)
m_customCollisionAlgorithmMaxElementSize(0),
m_defaultStackAllocatorSize(0),
m_useEpaPenetrationAlgorithm(true)
{
}
};
@@ -108,6 +112,11 @@ public:
return m_stackAlloc;
}
virtual btVoronoiSimplexSolver* getSimplexSolver()
{
return m_simplexSolver;
}
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);

5
extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.h vendored
View File

@@ -160,7 +160,7 @@ public:
return 0;
}
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
{
btAssert(0);
//need to keep track of all ghost objects and call them here
@@ -171,4 +171,5 @@ public:
};
#endif
#endif

772
extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp vendored Normal file
View File

@@ -0,0 +1,772 @@
#include "btInternalEdgeUtility.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "LinearMath/btIDebugDraw.h"
//#define DEBUG_INTERNAL_EDGE
#ifdef DEBUG_INTERNAL_EDGE
#include <stdio.h>
#endif //DEBUG_INTERNAL_EDGE
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
static btIDebugDraw* gDebugDrawer = 0;
void btSetDebugDrawer(btIDebugDraw* debugDrawer)
{
gDebugDrawer = debugDrawer;
}
static void btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color)
{
if (gDebugDrawer)
gDebugDrawer->drawLine(from,to,color);
}
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
static int btGetHash(int partId, int triangleIndex)
{
int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
return hash;
}
static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB)
{
const btVector3 refAxis0 = edgeA;
const btVector3 refAxis1 = normalA;
const btVector3 swingAxis = normalB;
btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
return angle;
}
struct btConnectivityProcessor : public btTriangleCallback
{
int m_partIdA;
int m_triangleIndexA;
btVector3* m_triangleVerticesA;
btTriangleInfoMap* m_triangleInfoMap;
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
//skip self-collisions
if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex))
return;
//skip duplicates (disabled for now)
//if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex))
// return;
//search for shared vertices and edges
int numshared = 0;
int sharedVertsA[3]={-1,-1,-1};
int sharedVertsB[3]={-1,-1,-1};
///skip degenerate triangles
btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
return;
btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
///skip degenerate triangles
if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
return;
#if 0
printf("triangle A[0] = (%f,%f,%f)\ntriangle A[1] = (%f,%f,%f)\ntriangle A[2] = (%f,%f,%f)\n",
m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(),
m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ());
printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex);
printf("triangle B[0] = (%f,%f,%f)\ntriangle B[1] = (%f,%f,%f)\ntriangle B[2] = (%f,%f,%f)\n",
triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(),
triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(),
triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
#endif
for (int i=0;i<3;i++)
{
for (int j=0;j<3;j++)
{
if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
{
sharedVertsA[numshared] = i;
sharedVertsB[numshared] = j;
numshared++;
///degenerate case
if(numshared >= 3)
return;
}
}
///degenerate case
if(numshared >= 3)
return;
}
switch (numshared)
{
case 0:
{
break;
}
case 1:
{
//shared vertex
break;
}
case 2:
{
//shared edge
//we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2)
{
sharedVertsA[0] = 2;
sharedVertsA[1] = 0;
int tmp = sharedVertsB[1];
sharedVertsB[1] = sharedVertsB[0];
sharedVertsB[0] = tmp;
}
int hash = btGetHash(m_partIdA,m_triangleIndexA);
btTriangleInfo* info = m_triangleInfoMap->find(hash);
if (!info)
{
btTriangleInfo tmp;
m_triangleInfoMap->insert(hash,tmp);
info = m_triangleInfoMap->find(hash);
}
int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
int otherIndexA = 3-sumvertsA;
btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]);
btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]);
//btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
btVector3 normalA;
btVector3 normalB;
tA.calcNormal(normalA);
tB.calcNormal(normalB);
edge.normalize();
btVector3 edgeCrossA = edge.cross(normalA).normalize();
{
btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]];
if (edgeCrossA.dot(tmp) < 0)
{
edgeCrossA*=-1;
}
}
btVector3 edgeCrossB = edge.cross(normalB).normalize();
{
btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]];
if (edgeCrossB.dot(tmp) < 0)
{
edgeCrossB*=-1;
}
}
btScalar angle2 = 0;
btScalar ang4 = 0.f;
btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
btScalar len2 = calculatedEdge.length2();
btScalar correctedAngle(0);
btVector3 calculatedNormalB = normalA;
bool isConvex = false;
if (len2<m_triangleInfoMap->m_planarEpsilon)
{
angle2 = 0.f;
ang4 = 0.f;
} else
{
calculatedEdge.normalize();
btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
calculatedNormalA.normalize();
angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
ang4 = SIMD_PI-angle2;
btScalar dotA = normalA.dot(edgeCrossB);
///@todo: check if we need some epsilon, due to floating point imprecision
isConvex = (dotA<0.);
correctedAngle = isConvex ? ang4 : -ang4;
btQuaternion orn2(calculatedEdge,-correctedAngle);
calculatedNormalB = btMatrix3x3(orn2)*normalA;
}
//alternatively use
//btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
switch (sumvertsA)
{
case 1:
{
btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
btScalar bla = computedNormalB.dot(normalB);
if (bla<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif//DEBUG_INTERNAL_EDGE
info->m_edgeV0V1Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V0V1_CONVEX;
break;
}
case 2:
{
btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(normalB)<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV2V0Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V2V0_CONVEX;
break;
}
case 3:
{
btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(normalB)<0)
{
info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
computedNormalB*=-1;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV1V2Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V1V2_CONVEX;
break;
}
}
break;
}
default:
{
// printf("warning: duplicate triangle\n");
}
}
}
};
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap)
{
//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
if (trimeshShape->getTriangleInfoMap())
return;
trimeshShape->setTriangleInfoMap(triangleInfoMap);
btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
const btVector3& meshScaling = meshInterface->getScaling();
for (int partId = 0; partId< meshInterface->getNumSubParts();partId++)
{
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
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()));
}
}
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);
aabbMax.setMax(triangleVerts[1]);
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
btConnectivityProcessor connectivityProcessor;
connectivityProcessor.m_partIdA = partId;
connectivityProcessor.m_triangleIndexA = triangleIndex;
connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
connectivityProcessor.m_triangleInfoMap = triangleInfoMap;
trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax);
}
}
}
// Given a point and a line segment (defined by two points), compute the closest point
// in the line. Cap the point at the endpoints of the line segment.
void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
{
btVector3 lineDelta = line1 - line0;
// Handle degenerate lines
if ( lineDelta.fuzzyZero())
{
nearestPoint = line0;
}
else
{
btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
// Clamp the point to conform to the segment's endpoints
if ( delta < 0 )
delta = 0;
else if ( delta > 1 )
delta = 1;
nearestPoint = line0 + lineDelta*delta;
}
}
bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal)
{
btVector3 tri_normal = tri_normal_org;
//we only have a local triangle normal, not a local contact normal -> only normal in world space...
//either compute the current angle all in local space, or all in world space
btVector3 edgeCross = edge.cross(tri_normal).normalize();
btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
if (correctedEdgeAngle<0)
{
if (curAngle < correctedEdgeAngle)
{
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
if (correctedEdgeAngle>=0)
{
if (curAngle > correctedEdgeAngle)
{
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
return false;
}
/// Changes a btManifoldPoint collision normal to the normal from the mesh.
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
{
//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
return;
int hash = btGetHash(partId0,index0);
btTriangleInfo* info = triangleInfoMapPtr->find(hash);
if (!info)
return;
btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
btVector3 v0,v1,v2;
tri_shape->getVertex(0,v0);
tri_shape->getVertex(1,v1);
tri_shape->getVertex(2,v2);
btVector3 center = (v0+v1+v2)*btScalar(1./3.);
btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
btVector3 tri_normal;
tri_shape->calcNormal(tri_normal);
//btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
btVector3 nearest;
btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
btVector3 contact = cp.m_localPointB;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
const btTransform& tr = colObj0->getWorldTransform();
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
bool isNearEdge = false;
int numConcaveEdgeHits = 0;
int numConvexEdgeHits = 0;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
if ((info->m_edgeV0V1Angle)< SIMD_2_PI)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
{
btVector3 edge(v0-v1);
isNearEdge = true;
if (info->m_edgeV0V1Angle==btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV0V1Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal. (what about cp.m_distance1?)
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
btNearestPointInLineSegment(contact,v1,v2,nearest);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
if ((info->m_edgeV1V2Angle)< SIMD_2_PI)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 edge(v1-v2);
isNearEdge = true;
if (info->m_edgeV1V2Angle == btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0;
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV1V2Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
btNearestPointInLineSegment(contact,v2,v0,nearest);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
if ((info->m_edgeV2V0Angle)< SIMD_2_PI)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 edge(v2-v0);
if (info->m_edgeV2V0Angle==btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0;
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV2V0Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
// printf("hitting convex edge\n");
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
#ifdef DEBUG_INTERNAL_EDGE
{
btVector3 color(0,1,1);
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
}
#endif //DEBUG_INTERNAL_EDGE
if (isNearEdge)
{
if (numConcaveEdgeHits>0)
{
if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0)
{
//fix tri_normal so it pointing the same direction as the current local contact normal
if (tri_normal.dot(localContactNormalOnB) < 0)
{
tri_normal *= -1;
}
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
} else
{
//modify the normal to be the triangle normal (or backfacing normal)
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *(tri_normal *frontFacing);
}
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}

46
extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h vendored Normal file
View File

@@ -0,0 +1,46 @@
#ifndef BT_INTERNAL_EDGE_UTILITY_H
#define BT_INTERNAL_EDGE_UTILITY_H
#include "LinearMath/btHashMap.h"
#include "LinearMath/btVector3.h"
#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges.
///See also http://code.google.com/p/bullet/issues/detail?id=27
class btBvhTriangleMeshShape;
class btCollisionObject;
class btManifoldPoint;
class btIDebugDraw;
enum btInternalEdgeAdjustFlags
{
BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended
BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
};
///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap);
///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
///If this info map is missing, or the triangle is not store in this map, nothing will be done
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
//#define BT_INTERNAL_EDGE_DEBUG_DRAW
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
void btSetDebugDrawer(btIDebugDraw* debugDrawer);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
#endif //BT_INTERNAL_EDGE_UTILITY_H

30
extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp vendored
View File

@@ -47,6 +47,12 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
#ifdef DEBUG_PART_INDEX
,m_partId0(-1),
m_partId1(-1),
m_index0(-1),
m_index1(-1)
#endif //DEBUG_PART_INDEX
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
@@ -57,8 +63,9 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
{
btAssert(m_manifoldPtr);
//order in manifold needs to match
if (depth > m_manifoldPtr->getContactBreakingThreshold())
// if (depth > m_manifoldPtr->getContactBreakingThreshold())
if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
@@ -88,10 +95,19 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
//BP mod, store contact triangles.
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
if (isSwapped)
{
newPt.m_partId0 = m_partId1;
newPt.m_partId1 = m_partId0;
newPt.m_index0 = m_index1;
newPt.m_index1 = m_index0;
} else
{
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
}
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
@@ -112,7 +128,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
}
}

33
extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h vendored
View File

@@ -28,11 +28,14 @@ class btManifoldPoint;
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
//#define DEBUG_PART_INDEX 1
///btManifoldResult is a helper class to manage contact results.
class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
{
protected:
btPersistentManifold* m_manifoldPtr;
//we need this for compounds
@@ -50,6 +53,13 @@ class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
public:
btManifoldResult()
#ifdef DEBUG_PART_INDEX
:
m_partId0(-1),
m_partId1(-1),
m_index0(-1),
m_index1(-1)
#endif //DEBUG_PART_INDEX
{
}
@@ -71,12 +81,16 @@ public:
return m_manifoldPtr;
}
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiersA(int partId0,int index0)
{
m_partId0=partId0;
m_partId1=partId1;
m_index0=index0;
m_index1=index1;
m_partId0=partId0;
m_index0=index0;
}
virtual void setShapeIdentifiersB( int partId1,int index1)
{
m_partId1=partId1;
m_index1=index1;
}
@@ -99,7 +113,16 @@ public:
}
}
const btCollisionObject* getBody0Internal() const
{
return m_body0;
}
const btCollisionObject* getBody1Internal() const
{
return m_body1;
}
};
#endif //MANIFOLD_RESULT_H

89
extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp vendored
View File

@@ -1,3 +1,4 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
@@ -44,10 +45,12 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
{
{
btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
for (int i=0;i<numOverlappingPairs;i++)
{
btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
const btBroadphasePair& collisionPair = pairPtr[i];
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@@ -63,15 +66,69 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
}
}
#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
// put the index into m_controllers into m_tag
int index = 0;
{
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
//Adding filtering here
if (!collisionObject->isStaticOrKinematicObject())
{
collisionObject->setIslandTag(index++);
}
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
}
}
// do the union find
initUnionFind( index );
findUnions(dispatcher,colWorld);
}
void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
if (!collisionObject->isStaticOrKinematicObject())
{
collisionObject->setIslandTag( m_unionFind.find(index) );
//Set the correct object offset in Collision Object Array
m_unionFind.getElement(index).m_sz = i;
collisionObject->setCompanionId(-1);
index++;
} else
{
collisionObject->setIslandTag(-1);
collisionObject->setCompanionId(-2);
}
}
}
}
#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
initUnionFind( int (colWorld->getCollisionObjectArray().size()));
// put the index into m_controllers into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
@@ -81,26 +138,20 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
index++;
}
}
// do the union find
findUnions(dispatcher,colWorld);
}
void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
@@ -120,6 +171,8 @@ void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
}
}
#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
inline int getIslandId(const btPersistentManifold* lhs)
{
int islandId;
@@ -339,15 +392,15 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
bool islandSleeping = false;
bool islandSleeping = true;
for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
int i = getUnionFind().getElement(endIslandIndex).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
m_islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
if (colObj0->isActive())
islandSleeping = false;
}

2
extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp vendored
View File

@@ -59,7 +59,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
input.m_transformA = sphereObj->getWorldTransform();
input.m_transformB = triObj->getWorldTransform();

3
extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp vendored
View File

@@ -70,7 +70,9 @@ void btUnionFind::sortIslands()
for (int i=0;i<numElements;i++)
{
m_elements[i].m_id = find(i);
#ifndef STATIC_SIMULATION_ISLAND_OPTIMIZATION
m_elements[i].m_sz = i;
#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
}
// Sort the vector using predicate and std::sort
@@ -78,4 +80,3 @@ void btUnionFind::sortIslands()
m_elements.quickSort(btUnionFindElementSortPredicate());
}

13
extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h vendored
View File

@@ -18,7 +18,10 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#define USE_PATH_COMPRESSION 1
#define USE_PATH_COMPRESSION 1
///see for discussion of static island optimizations by Vroonsh here: http://code.google.com/p/bullet/issues/detail?id=406
#define STATIC_SIMULATION_ISLAND_OPTIMIZATION 1
struct btElement
{
@@ -106,10 +109,12 @@ class btUnionFind
//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
#ifdef USE_PATH_COMPRESSION
//
m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
#endif //
const btElement* elementPtr = &m_elements[m_elements[x].m_id];
m_elements[x].m_id = elementPtr->m_id;
x = elementPtr->m_id;
#else//
x = m_elements[x].m_id;
#endif
//btAssert(x < m_N);
//btAssert(x >= 0);

42
extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.cpp vendored Normal file
View File

@@ -0,0 +1,42 @@
/*
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 "btBox2dShape.h"
//{
void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
}
void btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//btScalar margin = btScalar(0.);
btVector3 halfExtents = getHalfExtentsWithMargin();
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
}

363
extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h vendored Normal file
View File

@@ -0,0 +1,363 @@
/*
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 OBB_BOX_2D_SHAPE_H
#define OBB_BOX_2D_SHAPE_H
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btVector3.h"
#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
{
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
btVector3 m_centroid;
btVector3 m_vertices[4];
btVector3 m_normals[4];
public:
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return halfExtents;
}
const btVector3& getHalfExtentsWithoutMargin() const
{
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
for (int i=0;i<numVectors;i++)
{
const btVector3& vec = vectors[i];
supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
}
btBox2dShape( const btVector3& boxHalfExtents)
: btPolyhedralConvexShape(),
m_centroid(0,0,0)
{
m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
m_normals[0].setValue(0,-1,0);
m_normals[1].setValue(1,0,0);
m_normals[2].setValue(0,1,0);
m_normals[3].setValue(-1,0,0);
m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
};
virtual void setMargin(btScalar collisionMargin)
{
//correct the m_implicitShapeDimensions for the margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
}
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
int getVertexCount() const
{
return 4;
}
virtual int getNumVertices()const
{
return 4;
}
const btVector3* getVertices() const
{
return &m_vertices[0];
}
const btVector3* getNormals() const
{
return &m_normals[0];
}
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
{
//this plane might not be aligned...
btVector4 plane ;
getPlaneEquation(plane,i);
planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
planeSupport = localGetSupportingVertex(-planeNormal);
}
const btVector3& getCentroid() const
{
return m_centroid;
}
virtual int getNumPlanes() const
{
return 6;
}
virtual int getNumEdges() const
{
return 12;
}
virtual void getVertex(int i,btVector3& vtx) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
vtx = btVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
}
virtual void getPlaneEquation(btVector4& plane,int i) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
switch (i)
{
case 0:
plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
break;
case 1:
plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
break;
case 2:
plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
break;
case 3:
plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
break;
case 4:
plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
break;
case 5:
plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
break;
default:
btAssert(0);
}
}
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
//virtual void getEdge(int i,Edge& edge) const
{
int edgeVert0 = 0;
int edgeVert1 = 0;
switch (i)
{
case 0:
edgeVert0 = 0;
edgeVert1 = 1;
break;
case 1:
edgeVert0 = 0;
edgeVert1 = 2;
break;
case 2:
edgeVert0 = 1;
edgeVert1 = 3;
break;
case 3:
edgeVert0 = 2;
edgeVert1 = 3;
break;
case 4:
edgeVert0 = 0;
edgeVert1 = 4;
break;
case 5:
edgeVert0 = 1;
edgeVert1 = 5;
break;
case 6:
edgeVert0 = 2;
edgeVert1 = 6;
break;
case 7:
edgeVert0 = 3;
edgeVert1 = 7;
break;
case 8:
edgeVert0 = 4;
edgeVert1 = 5;
break;
case 9:
edgeVert0 = 4;
edgeVert1 = 6;
break;
case 10:
edgeVert0 = 5;
edgeVert1 = 7;
break;
case 11:
edgeVert0 = 6;
edgeVert1 = 7;
break;
default:
btAssert(0);
}
getVertex(edgeVert0,pa );
getVertex(edgeVert1,pb );
}
virtual bool isInside(const btVector3& pt,btScalar tolerance) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
//btScalar minDist = 2*tolerance;
bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
(pt.x() >= (-halfExtents.x()-tolerance)) &&
(pt.y() <= (halfExtents.y()+tolerance)) &&
(pt.y() >= (-halfExtents.y()-tolerance)) &&
(pt.z() <= (halfExtents.z()+tolerance)) &&
(pt.z() >= (-halfExtents.z()-tolerance));
return result;
}
//debugging
virtual const char* getName()const
{
return "Box2d";
}
virtual int getNumPreferredPenetrationDirections() const
{
return 6;
}
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
switch (index)
{
case 0:
penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
break;
case 1:
penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
break;
case 2:
penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
break;
case 3:
penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
break;
case 4:
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
break;
case 5:
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
break;
default:
btAssert(0);
}
}
};
#endif //OBB_BOX_2D_SHAPE_H

3
extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,7 +12,6 @@ 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.
*/
#include "btBoxShape.h"

5
extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -41,7 +41,7 @@ public:
const btVector3& getHalfExtentsWithoutMargin() const
{
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
return m_implicitShapeDimensions;//scaling is included, margin is not
}
@@ -312,6 +312,7 @@ public:
};
#endif //OBB_BOX_MINKOWSKI_H

106
extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -17,12 +17,14 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
#include "LinearMath/btSerializer.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_triangleInfoMap(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
@@ -42,6 +44,7 @@ m_ownsBvh(false)
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_triangleInfoMap(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
@@ -274,13 +277,13 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
nodeSubPart);
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
#ifdef DEBUG_TRIANGLE_MESH
@@ -364,3 +367,100 @@ void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVect
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;
btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
trimeshData->m_collisionMargin = float(m_collisionMargin);
if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
{
void* chunk = serializer->findPointer(m_bvh);
if (chunk)
{
#ifdef BT_USE_DOUBLE_PRECISION
trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
trimeshData->m_quantizedFloatBvh = 0;
#else
trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk;
trimeshData->m_quantizedDoubleBvh= 0;
#endif //BT_USE_DOUBLE_PRECISION
} else
{
#ifdef BT_USE_DOUBLE_PRECISION
trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
trimeshData->m_quantizedFloatBvh = 0;
#else
trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
trimeshData->m_quantizedDoubleBvh= 0;
#endif //BT_USE_DOUBLE_PRECISION
int sz = m_bvh->calculateSerializeBufferSizeNew();
btChunk* chunk = serializer->allocate(sz,1);
const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
}
} else
{
trimeshData->m_quantizedFloatBvh = 0;
trimeshData->m_quantizedDoubleBvh = 0;
}
if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
{
void* chunk = serializer->findPointer(m_triangleInfoMap);
if (chunk)
{
trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
} else
{
trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
int sz = m_triangleInfoMap->calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(sz,1);
const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
}
} else
{
trimeshData->m_triangleInfoMap = 0;
}
return "btTriangleMeshShapeData";
}
void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
{
if (m_bvh)
{
int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
btChunk* chunk = serializer->allocate(len,1);
const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
}
}
void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
{
if (m_triangleInfoMap)
{
int len = m_triangleInfoMap->calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);
const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
}
}

61
extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -19,7 +19,7 @@ subject to the following restrictions:
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
#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.
///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.
@@ -29,6 +29,8 @@ ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
{
btOptimizedBvh* m_bvh;
btTriangleInfoMap* m_triangleInfoMap;
bool m_useQuantizedAabbCompression;
bool m_ownsBvh;
bool m_pad[11];////need padding due to alignment
@@ -37,7 +39,7 @@ public:
BT_DECLARE_ALIGNED_ALLOCATOR();
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
@@ -73,7 +75,6 @@ public:
return m_bvh;
}
void setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1));
void buildOptimizedBvh();
@@ -82,7 +83,57 @@ public:
{
return m_useQuantizedAabbCompression;
}
void setTriangleInfoMap(btTriangleInfoMap* triangleInfoMap)
{
m_triangleInfoMap = triangleInfoMap;
}
const btTriangleInfoMap* getTriangleInfoMap() const
{
return m_triangleInfoMap;
}
btTriangleInfoMap* getTriangleInfoMap()
{
return m_triangleInfoMap;
}
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;
virtual void serializeSingleBvh(btSerializer* serializer) const;
virtual void serializeSingleTriangleInfoMap(btSerializer* serializer) const;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btTriangleMeshShapeData
{
btCollisionShapeData m_collisionShapeData;
btStridingMeshInterfaceData m_meshInterface;
btQuantizedBvhFloatData *m_quantizedFloatBvh;
btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
btTriangleInfoMapData *m_triangleInfoMap;
float m_collisionMargin;
char m_pad3[4];
};
SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const
{
return sizeof(btTriangleMeshShapeData);
}
;
#endif //BVH_TRIANGLE_MESH_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -32,7 +32,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -88,7 +88,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];
btVector3 vtx;

57
extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -43,6 +43,18 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void setMargin(btScalar collisionMargin)
{
//correct the m_implicitShapeDimensions for the margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
}
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
@@ -77,6 +89,24 @@ public:
return m_implicitShapeDimensions[m_upAxis];
}
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
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;
};
///btCapsuleShapeX represents a capsule around the Z axis
@@ -113,6 +143,31 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCapsuleShapeData
{
btConvexInternalShapeData m_convexInternalShapeData;
int m_upAxis;
char m_padding[4];
};
SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
{
return sizeof(btCapsuleShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
shapeData->m_upAxis = m_upAxis;
return "btCapsuleShapeData";
}
#endif //BT_CAPSULE_SHAPE_H

2
extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionMargin.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.

37
extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,12 +12,8 @@ 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.
*/
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
btScalar gContactThresholdFactor=btScalar(0.02);
#include "LinearMath/btSerializer.h"
/*
Make sure this dummy function never changes so that it
@@ -45,10 +41,12 @@ void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
center = (aabbMin+aabbMax)*btScalar(0.5);
}
btScalar btCollisionShape::getContactBreakingThreshold() const
btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
{
return getAngularMotionDisc() * gContactThresholdFactor;
return getAngularMotionDisc() * defaultContactThreshold;
}
btScalar btCollisionShape::getAngularMotionDisc() const
{
///@todo cache this value, to improve performance
@@ -96,3 +94,26 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b
temporalAabbMin -= angularMotion3d;
temporalAabbMax += angularMotion3d;
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
char* name = (char*) serializer->findNameForPointer(this);
shapeData->m_name = (char*)serializer->getUniquePointer(name);
if (shapeData->m_name)
{
serializer->serializeName(name);
}
shapeData->m_shapeType = m_shapeType;
//shapeData->m_padding//??
return "btCollisionShapeData";
}
void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
{
int len = calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);
const char* structType = serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
}

42
extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
class btSerializer;
///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
class btCollisionShape
@@ -46,24 +48,33 @@ 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;
virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative
void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
#ifndef __SPU__
SIMD_FORCE_INLINE bool isPolyhedral() const
{
return btBroadphaseProxy::isPolyhedral(getShapeType());
}
SIMD_FORCE_INLINE bool isConvex2d() const
{
return btBroadphaseProxy::isConvex2d(getShapeType());
}
SIMD_FORCE_INLINE bool isConvex() const
{
return btBroadphaseProxy::isConvex(getShapeType());
}
SIMD_FORCE_INLINE bool isNonMoving() const
{
return btBroadphaseProxy::isNonMoving(getShapeType());
}
SIMD_FORCE_INLINE bool isConcave() const
{
return btBroadphaseProxy::isConcave(getShapeType());
@@ -72,6 +83,7 @@ public:
{
return btBroadphaseProxy::isCompound(getShapeType());
}
SIMD_FORCE_INLINE bool isSoftBody() const
{
return btBroadphaseProxy::isSoftBody(getShapeType());
@@ -83,7 +95,7 @@ public:
return btBroadphaseProxy::isInfinite(getShapeType());
}
#ifndef __SPU__
virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
@@ -110,7 +122,29 @@ public:
return m_userPointer;
}
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;
virtual void serializeSingleShape(btSerializer* serializer) const;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCollisionShapeData
{
char *m_name;
int m_shapeType;
char m_padding[4];
};
SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
{
return sizeof(btCollisionShapeData);
}
#endif //COLLISION_SHAPE_H

121
extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -16,14 +16,15 @@ subject to the following restrictions:
#include "btCompoundShape.h"
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btSerializer.h"
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_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
m_dynamicAabbTree(0),
m_updateRevision(1)
m_updateRevision(1),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
@@ -51,6 +52,7 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
//m_childTransforms.push_back(localTransform);
//m_childShapes.push_back(shape);
btCompoundShapeChild child;
child.m_node = 0;
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape->getShapeType();
@@ -83,7 +85,7 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
}
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform)
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb)
{
m_children[childIndex].m_transform = newChildTransform;
@@ -93,11 +95,14 @@ void btCompoundShape::updateChildTransform(int childIndex, const btTransform& ne
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;
//int index = m_children.size()-1;
m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
}
recalculateLocalAabb();
if (shouldRecalculateLocalAabb)
{
recalculateLocalAabb();
}
}
void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
@@ -109,6 +114,8 @@ void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
}
m_children.swap(childShapeIndex,m_children.size()-1);
if (m_dynamicAabbTree)
m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
m_children.pop_back();
}
@@ -124,14 +131,7 @@ void btCompoundShape::removeChildShape(btCollisionShape* shape)
{
if(m_children[i].m_childShape == 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();
removeChildShapeByIndex(i);
}
}
@@ -145,8 +145,8 @@ 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));
m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
@@ -223,9 +223,13 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
for (k = 0; k < n; k++)
{
btAssert(masses[k]>0);
center += m_children[k].m_transform.getOrigin() * masses[k];
totalMass += masses[k];
}
btAssert(totalMass>0);
center /= totalMass;
principal.setOrigin(center);
@@ -271,3 +275,82 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
void btCompoundShape::setLocalScaling(const btVector3& scaling)
{
for(int i = 0; i < m_children.size(); i++)
{
btTransform childTrans = getChildTransform(i);
btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
// childScale = childScale * (childTrans.getBasis() * scaling);
childScale = childScale * scaling / m_localScaling;
m_children[i].m_childShape->setLocalScaling(childScale);
childTrans.setOrigin((childTrans.getOrigin())*scaling);
updateChildTransform(i, childTrans,false);
}
m_localScaling = scaling;
recalculateLocalAabb();
}
void btCompoundShape::createAabbTreeFromChildren()
{
if ( !m_dynamicAabbTree )
{
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
for ( int index = 0; index < m_children.size(); index++ )
{
btCompoundShapeChild &child = m_children[index];
//extend the local aabbMin/aabbMax
btVector3 localAabbMin,localAabbMax;
child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
}
}
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
shapeData->m_collisionMargin = float(m_collisionMargin);
shapeData->m_numChildShapes = m_children.size();
shapeData->m_childShapePtr = 0;
if (shapeData->m_numChildShapes)
{
btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
{
memPtr->m_childMargin = float(m_children[i].m_childMargin);
memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
//don't serialize shapes that already have been serialized
if (!serializer->findPointer(m_children[i].m_childShape))
{
btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);
serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape);
}
memPtr->m_childShapeType = m_children[i].m_childShapeType;
m_children[i].m_transform.serializeFloat(memPtr->m_transform);
}
serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
}
return "btCompoundShapeData";
}

68
extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -62,6 +62,11 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
int m_updateRevision;
btScalar m_collisionMargin;
protected:
btVector3 m_localScaling;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -101,7 +106,7 @@ public:
}
///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
void updateChildTransform(int childIndex, const btTransform& newChildTransform);
void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
btCompoundShapeChild* getChildList()
@@ -116,10 +121,8 @@ public:
Use this yourself if you modify the children or their transforms. */
virtual void recalculateLocalAabb();
virtual void setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
@@ -140,13 +143,17 @@ public:
return "Compound";
}
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
void createAabbTreeFromChildren();
btDbvt* getDynamicAabbTree()
const btDbvt* getDynamicAabbTree() const
{
return m_dynamicAabbTree;
}
btDbvt* getDynamicAabbTree()
{
return m_dynamicAabbTree;
}
void createAabbTreeFromChildren();
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform
@@ -160,13 +167,46 @@ public:
return m_updateRevision;
}
private:
btScalar m_collisionMargin;
protected:
btVector3 m_localScaling;
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;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCompoundShapeChildData
{
btTransformFloatData m_transform;
btCollisionShapeData *m_childShape;
int m_childShapeType;
float m_childMargin;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCompoundShapeData
{
btCollisionShapeData m_collisionShapeData;
btCompoundShapeChildData *m_childShapePtr;
int m_numChildShapes;
float m_collisionMargin;
};
SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
{
return sizeof(btCompoundShapeData);
}
#endif //COMPOUND_SHAPE_H

3
extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.cpp vendored
View File

@@ -1,7 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.

2
extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h vendored
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.

12
extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp vendored
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -131,3 +131,13 @@ btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
}
void btConeShape::setLocalScaling(const btVector3& scaling)
{
int axis = m_coneIndices[1];
int r1 = m_coneIndices[0];
int r2 = m_coneIndices[2];
m_height *= scaling[axis] / m_localScaling[axis];
m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
btConvexInternalShape::setLocalScaling(scaling);
}

5
extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h vendored
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -81,6 +81,9 @@ public:
{
return m_coneIndices[1];
}
virtual void setLocalScaling(const btVector3& scaling);
};
///btConeShape implements a Cone shape, around the X axis

92
extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.cpp vendored Normal file
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@@ -0,0 +1,92 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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 "btConvex2dShape.h"
btConvex2dShape::btConvex2dShape( btConvexShape* convexChildShape):
btConvexShape (), m_childConvexShape(convexChildShape)
{
m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
}
btConvex2dShape::~btConvex2dShape()
{
}
btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
}
void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
}
btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const
{
return m_childConvexShape->localGetSupportingVertex(vec);
}
void btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
///this linear upscaling is not realistic, but we don't deal with large mass ratios...
m_childConvexShape->calculateLocalInertia(mass,inertia);
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
m_childConvexShape->getAabb(t,aabbMin,aabbMax);
}
void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
}
void btConvex2dShape::setLocalScaling(const btVector3& scaling)
{
m_childConvexShape->setLocalScaling(scaling);
}
const btVector3& btConvex2dShape::getLocalScaling() const
{
return m_childConvexShape->getLocalScaling();
}
void btConvex2dShape::setMargin(btScalar margin)
{
m_childConvexShape->setMargin(margin);
}
btScalar btConvex2dShape::getMargin() const
{
return m_childConvexShape->getMargin();
}
int btConvex2dShape::getNumPreferredPenetrationDirections() const
{
return m_childConvexShape->getNumPreferredPenetrationDirections();
}
void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
}

80
extern/bullet2/src/BulletCollision/CollisionShapes/btConvex2dShape.h vendored Normal file
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@@ -0,0 +1,80 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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_2D_SHAPE_H
#define BT_CONVEX_2D_SHAPE_H
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///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
{
btConvexShape* m_childConvexShape;
public:
btConvex2dShape( btConvexShape* convexChildShape);
virtual ~btConvex2dShape();
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
btConvexShape* getChildShape()
{
return m_childConvexShape;
}
const btConvexShape* getChildShape() const
{
return m_childConvexShape;
}
virtual const char* getName()const
{
return "Convex2dShape";
}
///////////////////////////
///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;
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling) ;
virtual const btVector3& getLocalScaling() const ;
virtual void setMargin(btScalar margin);
virtual btScalar getMargin() const;
virtual int getNumPreferredPenetrationDirections() const;
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
};
#endif //BT_CONVEX_2D_SHAPE_H

61
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp vendored
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,14 +12,14 @@ 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.
*/
#include "btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btSerializer.h"
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
{
m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
m_unscaledPoints.resize(numPoints);
@@ -52,22 +52,10 @@ void btConvexHullShape::addPoint(const btVector3& point)
}
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)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;
}
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
for (int i=0;i<m_unscaledPoints.size();i++)
{
@@ -90,7 +78,7 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_unscaledPoints.size();i++)
@@ -186,3 +174,38 @@ bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
return false;
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
//int szc = sizeof(btConvexHullShapeData);
btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
int numElem = m_unscaledPoints.size();
shapeData->m_numUnscaledPoints = numElem;
#ifdef BT_USE_DOUBLE_PRECISION
shapeData->m_unscaledPointsFloatPtr = 0;
shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0;
#else
shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0;
shapeData->m_unscaledPointsDoublePtr = 0;
#endif
if (numElem)
{
int sz = sizeof(btVector3Data);
// int sz2 = sizeof(btVector3DoubleData);
// int sz3 = sizeof(btVector3FloatData);
btChunk* chunk = serializer->allocate(sz,numElem);
btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_unscaledPoints[i].serialize(*memPtr);
}
serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
}
return "btConvexHullShapeData";
}

29
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -20,9 +20,10 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btAlignedObjectArray.h"
///The btConvexHullShape implements an implicit convex hull of an array of vertices.
///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape
{
btAlignedObjectArray<btVector3> m_unscaledPoints;
@@ -88,8 +89,32 @@ public:
///in case we receive negative scaling
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;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btConvexHullShapeData
{
btConvexInternalShapeData m_convexInternalShapeData;
btVector3FloatData *m_unscaledPointsFloatPtr;
btVector3DoubleData *m_unscaledPointsDoublePtr;
int m_numUnscaledPoints;
char m_padding3[4];
};
SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
{
return sizeof(btConvexHullShapeData);
}
#endif //CONVEX_HULL_SHAPE_H

74
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp vendored
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -34,7 +34,8 @@ void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
{
#ifndef __SPU__
//use localGetSupportingVertexWithoutMargin?
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
@@ -49,6 +50,7 @@ void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAa
tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
minAabb[i] = tmp[i]-margin;
}
#endif
}
@@ -79,3 +81,71 @@ btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)c
}
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
: btConvexInternalShape(),
m_localAabbMin(1,1,1),
m_localAabbMax(-1,-1,-1),
m_isLocalAabbValid(false)
{
}
void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
}
void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
{
btConvexInternalShape::setLocalScaling(scaling);
recalcLocalAabb();
}
void btConvexInternalAabbCachingShape::recalcLocalAabb()
{
m_isLocalAabbValid = true;
#if 1
static const btVector3 _directions[] =
{
btVector3( 1., 0., 0.),
btVector3( 0., 1., 0.),
btVector3( 0., 0., 1.),
btVector3( -1., 0., 0.),
btVector3( 0., -1., 0.),
btVector3( 0., 0., -1.)
};
btVector3 _supporting[] =
{
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.)
};
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
for ( int i = 0; i < 3; ++i )
{
m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
}
#else
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i]+m_collisionMargin;
vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin;
}
#endif
}

109
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h vendored
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@@ -1,8 +1,24 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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_INTERNAL_SHAPE_H
#define BT_CONVEX_INTERNAL_SHAPE_H
#include "btConvexShape.h"
#include "LinearMath/btAabbUtil2.h"
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
class btConvexInternalShape : public btConvexShape
@@ -37,6 +53,15 @@ public:
return m_implicitShapeDimensions;
}
///warning: use setImplicitShapeDimensions with care
///changing a collision shape while the body is in the world is not recommended,
///it is best to remove the body from the world, then make the change, and re-add it
///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
void setImplicitShapeDimensions(const btVector3& dimensions)
{
m_implicitShapeDimensions = dimensions;
}
///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
{
@@ -85,9 +110,93 @@ public:
btAssert(0);
}
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;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btConvexInternalShapeData
{
btCollisionShapeData m_collisionShapeData;
btVector3FloatData m_localScaling;
btVector3FloatData m_implicitShapeDimensions;
float m_collisionMargin;
int m_padding;
};
SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
{
return sizeof(btConvexInternalShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
m_localScaling.serializeFloat(shapeData->m_localScaling);
shapeData->m_collisionMargin = float(m_collisionMargin);
return "btConvexInternalShapeData";
}
///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
class btConvexInternalAabbCachingShape : public btConvexInternalShape
{
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
bool m_isLocalAabbValid;
protected:
btConvexInternalAabbCachingShape();
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
{
//lazy evaluation of local aabb
btAssert(m_isLocalAabbValid);
btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
}
public:
virtual void setLocalScaling(const btVector3& scaling);
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
void recalcLocalAabb();
};
#endif //BT_CONVEX_INTERNAL_SHAPE_H

7
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@ 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.
*/
#include "btConvexPointCloudShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@@ -27,7 +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(-1e30);
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -62,7 +63,7 @@ void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_numPoints;i++)

15
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -21,7 +21,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
{
btVector3* m_unscaledPoints;
int m_numPoints;
@@ -29,6 +29,14 @@ ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexSh
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConvexPointCloudShape()
{
m_localScaling.setValue(1.f,1.f,1.f);
m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
m_unscaledPoints = 0;
m_numPoints = 0;
}
btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
{
m_localScaling = localScaling;
@@ -40,10 +48,11 @@ public:
recalcLocalAabb();
}
void setPoints (btVector3* points, int numPoints, bool computeAabb = true)
void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
{
m_unscaledPoints = points;
m_numPoints = numPoints;
m_localScaling = localScaling;
if (computeAabb)
recalcLocalAabb();

92
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -21,6 +21,18 @@ subject to the following restrictions:
#include "btConvexHullShape.h"
#include "btConvexPointCloudShape.h"
///not supported on IBM SDK, until we fix the alignment of btVector3
#if defined (__CELLOS_LV2__) && defined (__SPU__)
#include <spu_intrinsics.h>
static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
{
vec_float4 result;
result = spu_mul( vec0, vec1 );
result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
}
#endif //__SPU__
btConvexShape::btConvexShape ()
{
}
@@ -32,35 +44,71 @@ 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);
static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
{
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;
btVector3 vec = localDirOrg * localScaling;
#if defined (__CELLOS_LV2__) && defined (__SPU__)
btVector3 localDir = vec;
vec_float4 v_distMax = {-FLT_MAX,0,0,0};
vec_int4 v_idxMax = {-999,0,0,0};
int v=0;
int numverts = numPoints;
for(;v<(int)numverts-4;v+=4) {
vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
const vec_int4 i0 = {v ,0,0,0};
const vec_int4 i1 = {v+1,0,0,0};
const vec_int4 i2 = {v+2,0,0,0};
const vec_int4 i3 = {v+3,0,0,0};
vec_uint4 retGt01 = spu_cmpgt(p0,p1);
vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
vec_int4 imax01 = spu_sel(i1,i0,retGt01);
vec_uint4 retGt23 = spu_cmpgt(p2,p3);
vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
vec_int4 imax23 = spu_sel(i3,i2,retGt23);
vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
}
for(;v<(int)numverts;v++) {
vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
const vec_int4 i = {v,0,0,0};
vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
v_distMax = spu_sel(p,v_distMax,retGtMax);
v_idxMax = spu_sel(i,v_idxMax,retGtMax);
}
int ptIndex = spu_extract(v_idxMax,0);
const btVector3& supVec= points[ptIndex] * localScaling;
return supVec;
#else
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
int ptIndex = -1;
for (int i=0;i<numPoints;i++)
{
btVector3 vtx = points[i] * localScaling;
newDot = vec.dot(vtx);
newDot = vec.dot(points[i]);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
ptIndex = i;
}
}
return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
btAssert(ptIndex >= 0);
btVector3 supVec = points[ptIndex] * localScaling;
return supVec;
#endif //__SPU__
}
btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
@@ -160,7 +208,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -292,7 +340,7 @@ btScalar btConvexShape::getMarginNonVirtual () const
btAssert (0);
return btScalar(0.0f);
}
#ifndef __SPU__
void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
switch (m_shapeType)
@@ -360,7 +408,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
btScalar margin = convexHullShape->getMarginNonVirtual();
convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
}
@@ -377,3 +425,5 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
// should never reach here
btAssert (0);
}
#endif //__SPU__

2
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.

15
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@ 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.
*/
#include "btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@@ -20,7 +21,7 @@ subject to the following restrictions:
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
: btPolyhedralConvexShape(), m_stridingMesh(meshInterface)
: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
{
m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
if ( calcAabb )
@@ -43,7 +44,7 @@ public:
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
m_maxDot(btScalar(-1e30)),
m_maxDot(btScalar(-BT_LARGE_FLOAT)),
m_supportVecLocal(supportVecLocal)
{
}
@@ -91,7 +92,7 @@ btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
@@ -104,7 +105,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
@@ -115,7 +116,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
@@ -297,7 +298,7 @@ void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& pri
};
CenterCallback centerCallback;
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
btVector3 center = centerCallback.getCenter();
principal.setOrigin(center);

16
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h vendored
View File

@@ -1,3 +1,17 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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 CONVEX_TRIANGLEMESH_SHAPE_H
#define CONVEX_TRIANGLEMESH_SHAPE_H
@@ -8,7 +22,7 @@
/// 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 btPolyhedralConvexShape
class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
{
class btStridingMeshInterface* m_stridingMesh;

87
extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,14 +12,16 @@ 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.
*/
#include "btCylinderShape.h"
btCylinderShape::btCylinderShape (const btVector3& halfExtents)
:btBoxShape(halfExtents),
:btConvexInternalShape(),
m_upAxis(1)
{
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
recalcLocalAabb();
}
@@ -27,7 +29,7 @@ btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
{
m_upAxis = 0;
recalcLocalAabb();
}
@@ -35,13 +37,84 @@ btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
{
m_upAxis = 2;
recalcLocalAabb();
}
void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
//skip the box 'getAabb'
btPolyhedralConvexShape::getAabb(t,aabbMin,aabbMax);
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
}
void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
//#define USE_BOX_INERTIA_APPROXIMATION 1
#ifndef USE_BOX_INERTIA_APPROXIMATION
/*
cylinder is defined as following:
*
* - principle axis aligned along y by default, radius in x, z-value not used
* - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
* - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
*
*/
btScalar radius2; // square of cylinder radius
btScalar height2; // square of cylinder height
btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension
btScalar div12 = mass / 12.f;
btScalar div4 = mass / 4.f;
btScalar div2 = mass / 2.f;
int idxRadius, idxHeight;
switch (m_upAxis) // get indices of radius and height of cylinder
{
case 0: // cylinder is aligned along x
idxRadius = 1;
idxHeight = 0;
break;
case 2: // cylinder is aligned along z
idxRadius = 0;
idxHeight = 2;
break;
default: // cylinder is aligned along y
idxRadius = 0;
idxHeight = 1;
}
// calculate squares
radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
// calculate tensor terms
btScalar t1 = div12 * height2 + div4 * radius2;
btScalar t2 = div2 * radius2;
switch (m_upAxis) // set diagonal elements of inertia tensor
{
case 0: // cylinder is aligned along x
inertia.setValue(t2,t1,t1);
break;
case 2: // cylinder is aligned along z
inertia.setValue(t1,t1,t2);
break;
default: // cylinder is aligned along y
inertia.setValue(t1,t2,t1);
}
#else //USE_BOX_INERTIA_APPROXIMATION
//approximation of box shape
btVector3 halfExtents = getHalfExtentsWithMargin();
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
#endif //USE_BOX_INERTIA_APPROXIMATION
}

80
extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -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 btBoxShape
class btCylinderShape : public btConvexInternalShape
{
@@ -30,15 +30,42 @@ protected:
int m_upAxis;
public:
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return halfExtents;
}
const btVector3& getHalfExtentsWithoutMargin() const
{
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
}
btCylinderShape (const btVector3& halfExtents);
///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;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void setMargin(btScalar collisionMargin)
{
//correct the m_implicitShapeDimensions for the margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
@@ -73,13 +100,28 @@ public:
return getHalfExtentsWithMargin().getX();
}
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
//debugging
virtual const char* getName()const
{
return "CylinderY";
}
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;
};
@@ -112,10 +154,6 @@ public:
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getUpAxis() const
{
return 2;
}
//debugging
virtual const char* getName()const
{
@@ -129,6 +167,34 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCylinderShapeData
{
btConvexInternalShapeData m_convexInternalShapeData;
int m_upAxis;
char m_padding[4];
};
SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
{
return sizeof(btCylinderShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
shapeData->m_upAxis = m_upAxis;
return "btCylinderShapeData";
}
#endif //CYLINDER_MINKOWSKI_H

2
extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.

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