430 lines
13 KiB
C++
430 lines
13 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btConvexShape.h"
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#include "btTriangleShape.h"
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#include "btSphereShape.h"
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#include "btCylinderShape.h"
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#include "btCapsuleShape.h"
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#include "btConvexHullShape.h"
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#include "btConvexPointCloudShape.h"
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///not supported on IBM SDK, until we fix the alignment of btVector3
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#if defined (__CELLOS_LV2__) && defined (__SPU__)
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#include <spu_intrinsics.h>
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static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
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{
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vec_float4 result;
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result = spu_mul( vec0, vec1 );
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result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
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return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
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}
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#endif //__SPU__
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btConvexShape::btConvexShape ()
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{
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}
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btConvexShape::~btConvexShape()
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{
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}
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static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
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{
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btVector3 vec = localDirOrg * localScaling;
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#if defined (__CELLOS_LV2__) && defined (__SPU__)
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btVector3 localDir = vec;
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vec_float4 v_distMax = {-FLT_MAX,0,0,0};
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vec_int4 v_idxMax = {-999,0,0,0};
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int v=0;
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int numverts = numPoints;
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for(;v<(int)numverts-4;v+=4) {
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vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
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vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
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vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
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vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
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const vec_int4 i0 = {v ,0,0,0};
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const vec_int4 i1 = {v+1,0,0,0};
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const vec_int4 i2 = {v+2,0,0,0};
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const vec_int4 i3 = {v+3,0,0,0};
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vec_uint4 retGt01 = spu_cmpgt(p0,p1);
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vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
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vec_int4 imax01 = spu_sel(i1,i0,retGt01);
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vec_uint4 retGt23 = spu_cmpgt(p2,p3);
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vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
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vec_int4 imax23 = spu_sel(i3,i2,retGt23);
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vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
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vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
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vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
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vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
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v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
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v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
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}
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for(;v<(int)numverts;v++) {
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vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
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const vec_int4 i = {v,0,0,0};
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vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
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v_distMax = spu_sel(p,v_distMax,retGtMax);
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v_idxMax = spu_sel(i,v_idxMax,retGtMax);
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}
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int ptIndex = spu_extract(v_idxMax,0);
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const btVector3& supVec= points[ptIndex] * localScaling;
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return supVec;
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#else
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btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
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int ptIndex = -1;
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for (int i=0;i<numPoints;i++)
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{
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newDot = vec.dot(points[i]);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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ptIndex = i;
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}
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}
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btAssert(ptIndex >= 0);
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btVector3 supVec = points[ptIndex] * localScaling;
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return supVec;
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#endif //__SPU__
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}
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btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
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{
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switch (m_shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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return btVector3(0,0,0);
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* convexShape = (btBoxShape*)this;
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const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
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return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btTriangleShape* triangleShape = (btTriangleShape*)this;
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btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
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btVector3* vertices = &triangleShape->m_vertices1[0];
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btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
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btVector3 sup = vertices[dots.maxAxis()];
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return btVector3(sup.getX(),sup.getY(),sup.getZ());
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShape* cylShape = (btCylinderShape*)this;
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//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
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btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
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btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
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int cylinderUpAxis = cylShape->getUpAxis();
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int XX(1),YY(0),ZZ(2);
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switch (cylinderUpAxis)
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{
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case 0:
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{
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XX = 1;
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YY = 0;
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ZZ = 2;
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}
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break;
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case 1:
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{
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XX = 0;
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YY = 1;
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ZZ = 2;
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}
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break;
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case 2:
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{
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XX = 0;
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YY = 2;
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ZZ = 1;
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}
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break;
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default:
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btAssert(0);
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break;
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};
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btScalar radius = halfExtents[XX];
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btScalar halfHeight = halfExtents[cylinderUpAxis];
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btVector3 tmp;
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btScalar d ;
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btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
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if (s != btScalar(0.0))
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{
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d = radius / s;
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tmp[XX] = v[XX] * d;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = v[ZZ] * d;
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return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
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} else {
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tmp[XX] = radius;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = btScalar(0.0);
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return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
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}
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
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btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
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btScalar halfHeight = capsuleShape->getHalfHeight();
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int capsuleUpAxis = capsuleShape->getUpAxis();
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btScalar radius = capsuleShape->getRadius();
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btVector3 supVec(0,0,0);
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btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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btVector3 vtx;
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btScalar newDot;
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{
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btVector3 pos(0,0,0);
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pos[capsuleUpAxis] = halfHeight;
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//vtx = pos +vec*(radius);
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vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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{
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btVector3 pos(0,0,0);
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pos[capsuleUpAxis] = -halfHeight;
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//vtx = pos +vec*(radius);
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vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
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}
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case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
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{
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btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
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btVector3* points = convexPointCloudShape->getUnscaledPoints ();
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int numPoints = convexPointCloudShape->getNumPoints ();
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return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
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btVector3* points = convexHullShape->getUnscaledPoints();
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int numPoints = convexHullShape->getNumPoints ();
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return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
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}
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default:
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#ifndef __SPU__
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return this->localGetSupportingVertexWithoutMargin (localDir);
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#else
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btAssert (0);
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#endif
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}
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// should never reach here
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btAssert (0);
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return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
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}
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btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
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{
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btVector3 localDirNorm = localDir;
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if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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}
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localDirNorm.normalize ();
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return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
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}
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/* TODO: This should be bumped up to btCollisionShape () */
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btScalar btConvexShape::getMarginNonVirtual () const
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{
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switch (m_shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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btSphereShape* sphereShape = (btSphereShape*)this;
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return sphereShape->getRadius ();
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* convexShape = (btBoxShape*)this;
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return convexShape->getMarginNV ();
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btTriangleShape* triangleShape = (btTriangleShape*)this;
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return triangleShape->getMarginNV ();
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShape* cylShape = (btCylinderShape*)this;
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return cylShape->getMarginNV();
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
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return capsuleShape->getMarginNV();
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}
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case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
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/* fall through */
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
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return convexHullShape->getMarginNV();
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}
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default:
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#ifndef __SPU__
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return this->getMargin ();
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#else
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btAssert (0);
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#endif
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}
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// should never reach here
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btAssert (0);
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return btScalar(0.0f);
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}
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#ifndef __SPU__
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void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
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{
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switch (m_shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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btSphereShape* sphereShape = (btSphereShape*)this;
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btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
|
||
|
|
btScalar margin = radius + sphereShape->getMarginNonVirtual();
|
||
|
|
const btVector3& center = t.getOrigin();
|
||
|
|
btVector3 extent(margin,margin,margin);
|
||
|
|
aabbMin = center - extent;
|
||
|
|
aabbMax = center + extent;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CYLINDER_SHAPE_PROXYTYPE:
|
||
|
|
/* fall through */
|
||
|
|
case BOX_SHAPE_PROXYTYPE:
|
||
|
|
{
|
||
|
|
btBoxShape* convexShape = (btBoxShape*)this;
|
||
|
|
btScalar margin=convexShape->getMarginNonVirtual();
|
||
|
|
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
|
||
|
|
halfExtents += btVector3(margin,margin,margin);
|
||
|
|
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||
|
|
btVector3 center = t.getOrigin();
|
||
|
|
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
|
||
|
|
|
||
|
|
aabbMin = center - extent;
|
||
|
|
aabbMax = center + extent;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case TRIANGLE_SHAPE_PROXYTYPE:
|
||
|
|
{
|
||
|
|
btTriangleShape* triangleShape = (btTriangleShape*)this;
|
||
|
|
btScalar margin = triangleShape->getMarginNonVirtual();
|
||
|
|
for (int i=0;i<3;i++)
|
||
|
|
{
|
||
|
|
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||
|
|
vec[i] = btScalar(1.);
|
||
|
|
|
||
|
|
btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
|
||
|
|
|
||
|
|
btVector3 tmp = t(sv);
|
||
|
|
aabbMax[i] = tmp[i]+margin;
|
||
|
|
vec[i] = btScalar(-1.);
|
||
|
|
tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
|
||
|
|
aabbMin[i] = tmp[i]-margin;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CAPSULE_SHAPE_PROXYTYPE:
|
||
|
|
{
|
||
|
|
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
|
||
|
|
btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
|
||
|
|
int m_upAxis = capsuleShape->getUpAxis();
|
||
|
|
halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
|
||
|
|
halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
|
||
|
|
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||
|
|
btVector3 center = t.getOrigin();
|
||
|
|
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
|
||
|
|
aabbMin = center - extent;
|
||
|
|
aabbMax = center + extent;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
|
||
|
|
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||
|
|
{
|
||
|
|
btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
|
||
|
|
btScalar margin = convexHullShape->getMarginNonVirtual();
|
||
|
|
convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
#ifndef __SPU__
|
||
|
|
this->getAabb (t, aabbMin, aabbMax);
|
||
|
|
#else
|
||
|
|
btAssert (0);
|
||
|
|
#endif
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
// should never reach here
|
||
|
|
btAssert (0);
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif //__SPU__
|