kannonier8/blender
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Merged changes in the trunk up to revision 47700.

Browse Source 
Conflicts resolved:
source/blender/blenkernel/BKE_main.h
source/blender/blenkernel/CMakeLists.txt
source/blender/blenkernel/intern/library.c
source/blender/blenloader/intern/readfile.c
source/blender/blenloader/intern/writefile.c
source/blender/editors/interface/resources.c
source/blender/makesdna/DNA_ID.h
source/blender/makesdna/DNA_action_types.h
source/blender/makesdna/intern/makesdna.c
source/blender/makesrna/SConscript
source/blender/makesrna/intern/rna_internal.h
source/blender/makesrna/intern/rna_main.c
source/blender/makesrna/intern/rna_main_api.c
source/blender/windowmanager/WM_types.h
This commit is contained in:
Tamito Kajiyama 2012-06-10 20:50:43 +00:00
commit 8135cc9f95
993 changed files with 58743 additions and 11699 deletions
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10
CMakeLists.txt
View File

@ -236,6 +236,7 @@ endif()
# Cycles
option(WITH_CYCLES "Enable cycles Render Engine" ON)
option(WITH_CYCLES_TEST "Build cycles test application" OFF)
option(WITH_CYCLES_OSL "Build Cycles with OSL support" OFF)
option(WITH_CYCLES_CUDA_BINARIES "Build cycles CUDA binaries" OFF)
set(CYCLES_CUDA_BINARIES_ARCH sm_13 sm_20 sm_21 CACHE STRING "CUDA architectures to build binaries for")
mark_as_advanced(CYCLES_CUDA_BINARIES_ARCH)
@ -646,10 +647,17 @@ if(UNIX AND NOT APPLE)
find_package(OpenImageIO)
set(OPENIMAGEIO_LIBRARIES ${OPENIMAGEIO_LIBRARIES} ${PNG_LIBRARIES} ${JPEG_LIBRARIES} ${TIFF_LIBRARY} ${OPENEXR_LIBRARIES} ${ZLIB_LIBRARIES} ${BOOST_LIBRARIES})
set(OPENIMAGEIO_LIBRARIES ${OPENIMAGEIO_LIBRARIES} ${PNG_LIBRARIES} ${JPEG_LIBRARIES} ${ZLIB_LIBRARIES} ${BOOST_LIBRARIES})
set(OPENIMAGEIO_LIBPATH) # TODO, remove and reference the absolute path everywhere
set(OPENIMAGEIO_DEFINITIONS)
if(WITH_IMAGE_TIFF)
list(APPEND OPENIMAGEIO_LIBRARIES "${TIFF_LIBRARY}")
endif()
if(WITH_IMAGE_OPENEXR)
list(APPEND OPENIMAGEIO_LIBRARIES "${OPENEXR_LIBRARIES}")
endif()
if(NOT OPENIMAGEIO_FOUND)
set(WITH_OPENIMAGEIO OFF)
set(WITH_CYCLES OFF)

1
build_files/buildbot/config/user-config-i686.py
View File

@ -97,6 +97,7 @@ WITH_BF_JACK = True
# Cycles
WITH_BF_CYCLES = True
WITH_BF_CYCLES_CUDA_BINARIES = True
BF_CYCLES_CUDA_BINARIES_ARCH = ['sm_13', 'sm_20', 'sm_21', 'sm_30']
WITH_BF_OIIO = True
WITH_BF_STATICOIIO = True

1
build_files/buildbot/config/user-config-x86_64.py
View File

@ -97,6 +97,7 @@ WITH_BF_JACK = True
# Cycles
WITH_BF_CYCLES = True
WITH_BF_CYCLES_CUDA_BINARIES = True
BF_CYCLES_CUDA_BINARIES_ARCH = ['sm_13', 'sm_20', 'sm_21', 'sm_30']
WITH_BF_OIIO = True
WITH_BF_STATICOIIO = True

27
doc/python_api/examples/bpy.types.Object.py Normal file
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@ -0,0 +1,27 @@
"""
Basic Object Operations Example
+++++++++++++++++++++++++++++++
This script demonstrates basic operations on object like creating new
object, placing it into scene, selecting it and making it active
"""
import bpy
from mathutils import Matrix
scene = bpy.context.scene
# Create new lamp datablock
lamp_data = bpy.data.lamps.new(name="New Lamp", type="POINT")
# Create new object with out lamp datablock
lamp_object = bpy.data.objects.new(name="New Lamp", object_data=lamp_data)
# Link lamp object to the scene so it'll appear in this scene
scene.objects.link(lamp_object)
# Place lamp to specified location
lamp_object.location = (5.0, 5.0, 5.0)
# And finally select it make active
lamp_object.select = True
scene.objects.active = lamp_object

87
extern/bullet2/CMakeLists.txt vendored
View File

@ -43,9 +43,9 @@ set(SRC
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@ -54,16 +54,21 @@ set(SRC
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btGhostObject.cpp
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btUnionFind.cpp
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
src/BulletCollision/CollisionShapes/btBoxShape.cpp
src/BulletCollision/CollisionShapes/btBox2dShape.cpp
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
@ -73,14 +78,16 @@ set(SRC
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
src/BulletCollision/CollisionShapes/btConvexShape.cpp
src/BulletCollision/CollisionShapes/btConvex2dShape.cpp
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btCylinderShape.cpp
src/BulletCollision/CollisionShapes/btEmptyShape.cpp
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
@ -97,11 +104,11 @@ set(SRC
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
src/BulletCollision/Gimpact/btContactProcessing.cpp
src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
src/BulletCollision/Gimpact/btGImpactBvh.cpp
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
src/BulletCollision/Gimpact/btGImpactShape.cpp
src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
src/BulletCollision/Gimpact/gim_box_set.cpp
src/BulletCollision/Gimpact/gim_contact.cpp
@ -118,25 +125,28 @@ set(SRC
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
src/BulletDynamics/Character/btKinematicCharacterController.cpp
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
src/BulletDynamics/Dynamics/btRigidBody.cpp
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
src/BulletDynamics/Vehicle/btWheelInfo.cpp
src/BulletSoftBody/btDefaultSoftBodySolver.cpp
src/BulletDynamics/Character/btKinematicCharacterController.cpp
src/BulletSoftBody/btSoftBody.cpp
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
src/BulletSoftBody/btSoftBodyHelpers.cpp
@ -144,21 +154,16 @@ set(SRC
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
src/BulletSoftBody/btDefaultSoftBodySolver.cpp
src/LinearMath/btAlignedAllocator.cpp
src/LinearMath/btConvexHull.cpp
src/LinearMath/btConvexHullComputer.cpp
src/LinearMath/btGeometryUtil.cpp
src/LinearMath/btQuickprof.cpp
src/LinearMath/btSerializer.cpp
# UNUSED
# src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
# src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
# src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
# src/BulletCollision/CollisionShapes/btBox2dShape.cpp
# src/BulletCollision/CollisionShapes/btConvex2dShape.cpp
# src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
# src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
src/Bullet-C-Api.h
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@ -171,9 +176,9 @@ set(SRC
src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@ -183,6 +188,7 @@ set(SRC
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
@ -193,7 +199,9 @@ set(SRC
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btUnionFind.h
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
src/BulletCollision/CollisionShapes/btBoxShape.h
src/BulletCollision/CollisionShapes/btBox2dShape.h
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
src/BulletCollision/CollisionShapes/btCapsuleShape.h
src/BulletCollision/CollisionShapes/btCollisionMargin.h
@ -204,15 +212,17 @@ set(SRC
src/BulletCollision/CollisionShapes/btConvexHullShape.h
src/BulletCollision/CollisionShapes/btConvexInternalShape.h
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
src/BulletCollision/CollisionShapes/btConvexShape.h
src/BulletCollision/CollisionShapes/btConvex2dShape.h
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
src/BulletCollision/CollisionShapes/btCylinderShape.h
src/BulletCollision/CollisionShapes/btEmptyShape.h
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
src/BulletCollision/CollisionShapes/btMaterial.h
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
@ -233,13 +243,13 @@ set(SRC
src/BulletCollision/Gimpact/btBoxCollision.h
src/BulletCollision/Gimpact/btClipPolygon.h
src/BulletCollision/Gimpact/btContactProcessing.h
src/BulletCollision/Gimpact/btGenericPoolAllocator.h
src/BulletCollision/Gimpact/btGeometryOperations.h
src/BulletCollision/Gimpact/btGImpactBvh.h
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
src/BulletCollision/Gimpact/btGImpactMassUtil.h
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
src/BulletCollision/Gimpact/btGImpactShape.h
src/BulletCollision/Gimpact/btGenericPoolAllocator.h
src/BulletCollision/Gimpact/btGeometryOperations.h
src/BulletCollision/Gimpact/btQuantization.h
src/BulletCollision/Gimpact/btTriangleShapeEx.h
src/BulletCollision/Gimpact/gim_array.h
@ -273,14 +283,15 @@ set(SRC
src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
src/BulletDynamics/Character/btCharacterControllerInterface.h
src/BulletDynamics/Character/btKinematicCharacterController.h
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@ -290,41 +301,45 @@ set(SRC
src/BulletDynamics/ConstraintSolver/btSolverBody.h
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
src/BulletDynamics/Dynamics/btActionInterface.h
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
src/BulletDynamics/Dynamics/btDynamicsWorld.h
src/BulletDynamics/Dynamics/btRigidBody.h
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
src/BulletDynamics/Dynamics/btRigidBody.h
src/BulletDynamics/Vehicle/btRaycastVehicle.h
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
src/BulletDynamics/Vehicle/btWheelInfo.h
src/BulletSoftBody/btDefaultSoftBodySolver.h
src/BulletDynamics/Character/btCharacterControllerInterface.h
src/BulletDynamics/Character/btKinematicCharacterController.h
src/BulletSoftBody/btSoftBody.h
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
src/BulletSoftBody/btSoftBodyData.h
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
src/BulletSoftBody/btSoftBodyHelpers.h
src/BulletSoftBody/btSoftBodyInternals.h
src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
src/BulletSoftBody/btSoftBodySolverVertexBuffer.h
src/BulletSoftBody/btSoftBodySolvers.h
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
src/BulletSoftBody/btSoftRigidDynamicsWorld.h
src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
src/BulletSoftBody/btSparseSDF.h
src/BulletSoftBody/btSoftBodySolvers.h
src/BulletSoftBody/btDefaultSoftBodySolver.h
src/BulletSoftBody/btSoftBodySolverVertexBuffer.h
src/LinearMath/btAabbUtil2.h
src/LinearMath/btAlignedAllocator.h
src/LinearMath/btAlignedObjectArray.h
src/LinearMath/btConvexHull.h
src/LinearMath/btConvexHullComputer.h
src/LinearMath/btDefaultMotionState.h
src/LinearMath/btGeometryUtil.h
src/LinearMath/btGrahamScan2dConvexHull.h
src/LinearMath/btHashMap.h
src/LinearMath/btIDebugDraw.h
src/LinearMath/btList.h
src/LinearMath/btMatrix3x3.h
src/LinearMath/btMinMax.h
src/LinearMath/btMotionState.h
src/LinearMath/btPoint3.h
src/LinearMath/btPoolAllocator.h
src/LinearMath/btQuadWord.h
src/LinearMath/btQuaternion.h
@ -332,20 +347,14 @@ set(SRC
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
# src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
# src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
# src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
# src/BulletCollision/CollisionShapes/btBox2dShape.h
# src/BulletCollision/CollisionShapes/btConvex2dShape.h
# src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
# src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
)
if(CMAKE_COMPILER_IS_GNUCXX)

42
extern/bullet2/patches/ghost_softbody.patch vendored Normal file
View File

@ -0,0 +1,42 @@
Index: extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
===================================================================
--- extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43904)
+++ extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43905)
@@ -2780,21 +2780,23 @@
{
const RContact& c = psb->m_rcontacts[i];
const sCti& cti = c.m_cti;
- btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
- const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
- const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
- const btVector3 vr = vb-va;
- const btScalar dn = btDot(vr, cti.m_normal);
- if(dn<=SIMD_EPSILON)
- {
- const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
- const btVector3 fv = vr - (cti.m_normal * dn);
- // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
- const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
- c.m_node->m_x -= impulse * c.m_c2;
- if (tmpRigid)
- tmpRigid->applyImpulse(impulse,c.m_c1);
+ if (cti.m_colObj->hasContactResponse()) {
+ btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
+ const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
+ const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
+ const btVector3 vr = vb-va;
+ const btScalar dn = btDot(vr, cti.m_normal);
+ if(dn<=SIMD_EPSILON)
+ {
+ const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
+ const btVector3 fv = vr - (cti.m_normal * dn);
+ // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
+ const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
+ c.m_node->m_x -= impulse * c.m_c2;
+ if (tmpRigid)
+ tmpRigid->applyImpulse(impulse,c.m_c1);
+ }
}
}
}

31
extern/bullet2/patches/pvs_warning_fixes.patch vendored Normal file
View File

@ -0,0 +1,31 @@
Index: extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
===================================================================
--- extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h (Revision 45907)
+++ extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h (Revision 45908)
@@ -45,7 +45,9 @@
int getTriangleIndex() const
{
// Get only the lower bits where the triangle index is stored
- return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
+ unsigned int x = 0;
+ unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
+ return (m_PartIdTriangleIndex&~(y));
}
int getPartId() const
{
Index: extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
===================================================================
--- extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h (Revision 45907)
+++ extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h (Revision 45908)
@@ -78,8 +78,10 @@
int getTriangleIndex() const
{
btAssert(isLeafNode());
+ unsigned int x=0;
+ unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
// Get only the lower bits where the triangle index is stored
- return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
+ return (m_escapeIndexOrTriangleIndex&~(y));
}
int getPartId() const
{

18
extern/bullet2/readme.txt vendored
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@ -1,21 +1,15 @@
***
Apply bullet_compound_raycast.patch if not already applied in Bullet source
This patch is needed to return correct raycast results on compound shape.
/ben
*** These files in extern/bullet2 are NOT part of the Blender build yet ***
This is the new refactored version of Bullet physics library version 2.x
Soon this will replace the old Bullet version in extern/bullet.
First the integration in Blender Game Engine needs to be updated.
Once that is done all build systems can be updated to use/build extern/bullet2 files.
Questions? mail blender at erwincoumans.com, or check the bf-blender mailing list.
Thanks,
Erwin
Apply patches/ghost_softbody.patch to prevent softbodies being hit by ghost objects.
Originally committed in blender svn revision: 43905.
Apply patches/pvs_warning_fixes.patch to fix warnings reported by PVS-Studio.
Originally committed in blender svn revision: 45908.
Apply patches/make_id.patch to prevent duplicated define of MAKE_ID macro in blender
side and bullet side.
Sergey

8
extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h vendored
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@ -16,8 +16,8 @@
//
// 3. This notice may not be removed or altered from any source distribution.
#ifndef AXIS_SWEEP_3_H
#define AXIS_SWEEP_3_H
#ifndef BT_AXIS_SWEEP_3_H
#define BT_AXIS_SWEEP_3_H
#include "LinearMath/btVector3.h"
#include "btOverlappingPairCache.h"
@ -1026,7 +1026,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE ed
/// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
/// It uses arrays rather than lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats.
/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats.
/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance.
class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
{
@ -1038,7 +1038,7 @@ public:
/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune.
/// This comes at the cost of more memory per handle, and a bit slower performance.
/// It uses arrays rather than lists for storage of the 3 axis.
/// It uses arrays rather then lists for storage of the 3 axis.
class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
{
public:

6
extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_INTERFACE_H
#define BROADPHASE_INTERFACE_H
#ifndef BT_BROADPHASE_INTERFACE_H
#define BT_BROADPHASE_INTERFACE_H
@ -79,4 +79,4 @@ public:
};
#endif //BROADPHASE_INTERFACE_H
#endif //BT_BROADPHASE_INTERFACE_H

8
extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_PROXY_H
#define BROADPHASE_PROXY_H
#ifndef BT_BROADPHASE_PROXY_H
#define BT_BROADPHASE_PROXY_H
#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
#include "LinearMath/btVector3.h"
@ -246,7 +246,7 @@ class btBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
{
const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
@ -266,5 +266,5 @@ SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphaseP
}
#endif //BROADPHASE_PROXY_H
#endif //BT_BROADPHASE_PROXY_H

6
extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_ALGORITHM_H
#define COLLISION_ALGORITHM_H
#ifndef BT_COLLISION_ALGORITHM_H
#define BT_COLLISION_ALGORITHM_H
#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
@ -77,4 +77,4 @@ public:
};
#endif //COLLISION_ALGORITHM_H
#endif //BT_COLLISION_ALGORITHM_H

3
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h vendored
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@ -259,6 +259,7 @@ struct btDbvt
btAlignedObjectArray<sStkNN> m_stkStack;
mutable btAlignedObjectArray<const btDbvtNode*> m_rayTestStack;
// Methods
@ -955,7 +956,7 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
int depth=1;
int treshold=DOUBLE_STACKSIZE-2;
btAlignedObjectArray<const btDbvtNode*> stack;
btAlignedObjectArray<const btDbvtNode*>& stack = m_rayTestStack;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=root;
btVector3 bounds[2];

16
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h vendored
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@ -13,9 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef _DISPATCHER_H
#define _DISPATCHER_H
#ifndef BT_DISPATCHER_H
#define BT_DISPATCHER_H
#include "LinearMath/btScalar.h"
class btCollisionAlgorithm;
@ -27,6 +26,7 @@ class btOverlappingPairCache;
class btPersistentManifold;
class btStackAlloc;
class btPoolAllocator;
struct btDispatcherInfo
{
@ -40,7 +40,7 @@ struct btDispatcherInfo
m_stepCount(0),
m_dispatchFunc(DISPATCH_DISCRETE),
m_timeOfImpact(btScalar(1.)),
m_useContinuous(false),
m_useContinuous(true),
m_debugDraw(0),
m_enableSatConvex(false),
m_enableSPU(true),
@ -48,7 +48,6 @@ struct btDispatcherInfo
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
m_convexMaxDistanceUseCPT(false),
m_stackAllocator(0)
{
@ -65,7 +64,6 @@ struct btDispatcherInfo
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
bool m_convexMaxDistanceUseCPT;
btStackAlloc* m_stackAllocator;
};
@ -98,6 +96,10 @@ public:
virtual btPersistentManifold** getInternalManifoldPointer() = 0;
virtual btPoolAllocator* getInternalManifoldPool() = 0;
virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
virtual void* allocateCollisionAlgorithm(int size) = 0;
virtual void freeCollisionAlgorithm(void* ptr) = 0;
@ -105,4 +107,4 @@ public:
};
#endif //_DISPATCHER_H
#endif //BT_DISPATCHER_H

2
extern/bullet2/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp vendored
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@ -341,7 +341,7 @@ class btMultiSapBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const
{
btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;

6
extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OVERLAPPING_PAIR_CACHE_H
#define OVERLAPPING_PAIR_CACHE_H
#ifndef BT_OVERLAPPING_PAIR_CACHE_H
#define BT_OVERLAPPING_PAIR_CACHE_H
#include "btBroadphaseInterface.h"
@ -464,6 +464,6 @@ public:
};
#endif //OVERLAPPING_PAIR_CACHE_H
#endif //BT_OVERLAPPING_PAIR_CACHE_H

12
extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef QUANTIZED_BVH_H
#define QUANTIZED_BVH_H
#ifndef BT_QUANTIZED_BVH_H
#define BT_QUANTIZED_BVH_H
class btSerializer;
@ -109,9 +109,9 @@ ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
//for child nodes
int m_subPart;
int m_triangleIndex;
int m_padding[5];//bad, due to alignment
//pad the size to 64 bytes
char m_padding[20];
};
@ -339,7 +339,7 @@ public:
///***************************************** expert/internal use only *************************
void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.5));
void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
void buildInternal();
@ -578,4 +578,4 @@ SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
#endif //QUANTIZED_BVH_H
#endif //BT_QUANTIZED_BVH_H

6
extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SIMPLE_BROADPHASE_H
#define SIMPLE_BROADPHASE_H
#ifndef BT_SIMPLE_BROADPHASE_H
#define BT_SIMPLE_BROADPHASE_H
#include "btOverlappingPairCache.h"
@ -167,5 +167,5 @@ public:
#endif //SIMPLE_BROADPHASE_H
#endif //BT_SIMPLE_BROADPHASE_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERE_TRIANGLE_DETECTOR_H
#define SPHERE_TRIANGLE_DETECTOR_H
#ifndef BT_SPHERE_TRIANGLE_DETECTOR_H
#define BT_SPHERE_TRIANGLE_DETECTOR_H
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
@ -47,5 +47,5 @@ private:
btScalar m_contactBreakingThreshold;
};
#endif //SPHERE_TRIANGLE_DETECTOR_H
#endif //BT_SPHERE_TRIANGLE_DETECTOR_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
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
#ifndef BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#define BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -62,5 +62,5 @@ public:
};
#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX_BOX__COLLISION_ALGORITHM_H
#define BOX_BOX__COLLISION_ALGORITHM_H
#ifndef BT_BOX_BOX__COLLISION_ALGORITHM_H
#define BT_BOX_BOX__COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -62,5 +62,5 @@ public:
};
#endif //BOX_BOX__COLLISION_ALGORITHM_H
#endif //BT_BOX_BOX__COLLISION_ALGORITHM_H

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

@ -16,8 +16,8 @@ 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.
*/
#ifndef BOX_BOX_DETECTOR_H
#define BOX_BOX_DETECTOR_H
#ifndef BT_BOX_BOX_DETECTOR_H
#define BT_BOX_BOX_DETECTOR_H
class btBoxShape;

1
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h vendored
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@ -15,6 +15,7 @@ subject to the following restrictions:
#ifndef BT_COLLISION_CONFIGURATION
#define BT_COLLISION_CONFIGURATION
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_CREATE_FUNC
#define COLLISION_CREATE_FUNC
#ifndef BT_COLLISION_CREATE_FUNC
#define BT_COLLISION_CREATE_FUNC
#include "LinearMath/btAlignedObjectArray.h"
class btCollisionAlgorithm;
@ -41,5 +41,5 @@ struct btCollisionAlgorithmCreateFunc
return 0;
}
};
#endif //COLLISION_CREATE_FUNC
#endif //BT_COLLISION_CREATE_FUNC

15
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp vendored
View File

@ -92,8 +92,16 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
} else
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0)
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
} else
{
btAssert(0);
//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
return 0;
}
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
manifold->m_index1a = m_manifoldsPtr.size();
@ -172,8 +180,7 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
{
m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");

21
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION__DISPATCHER_H
#define COLLISION__DISPATCHER_H
#ifndef BT_COLLISION__DISPATCHER_H
#define BT_COLLISION__DISPATCHER_H
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@ -67,7 +67,8 @@ public:
enum DispatcherFlags
{
CD_STATIC_STATIC_REPORTED = 1,
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
};
int getDispatcherFlags() const
@ -90,7 +91,7 @@ public:
btPersistentManifold** getInternalManifoldPointer()
{
return &m_manifoldsPtr[0];
return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
}
btPersistentManifold* getManifoldByIndexInternal(int index)
@ -155,7 +156,17 @@ public:
m_collisionConfiguration = config;
}
virtual btPoolAllocator* getInternalManifoldPool()
{
return m_persistentManifoldPoolAllocator;
}
virtual const btPoolAllocator* getInternalManifoldPool() const
{
return m_persistentManifoldPoolAllocator;
}
};
#endif //COLLISION__DISPATCHER_H
#endif //BT_COLLISION__DISPATCHER_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_OBJECT_H
#define COLLISION_OBJECT_H
#ifndef BT_COLLISION_OBJECT_H
#define BT_COLLISION_OBJECT_H
#include "LinearMath/btTransform.h"
@ -521,4 +521,4 @@ SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
#endif //COLLISION_OBJECT_H
#endif //BT_COLLISION_OBJECT_H

437
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp vendored
View File

@ -33,6 +33,7 @@ subject to the following restrictions:
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
@ -154,7 +155,7 @@ void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
minAabb -= contactThreshold;
maxAabb += contactThreshold;
if(getDispatchInfo().m_convexMaxDistanceUseCPT)
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
{
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
@ -662,68 +663,103 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
} else
{
//BT_PROFILE("convexSweepConcave");
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btConvexCast::CastResult castResult;
castResult.m_allowedPenetration = allowedPenetration;
castResult.m_fraction = resultCallback.m_closestHitFraction;
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;
btContinuousConvexCollision convexCaster1(castShape,planeShape);
btConvexCast* castPtr = &convexCaster1;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
collisionObject,
0,
castResult.m_normal,
castResult.m_hitPoint,
castResult.m_fraction
);
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
}
}
return hitFraction;
}
};
} else
{
//BT_PROFILE("convexSweepConcave");
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btVector3 rayAabbMinLocal = convexFromLocal;
rayAabbMinLocal.setMin(convexToLocal);
btVector3 rayAabbMaxLocal = convexFromLocal;
rayAabbMaxLocal.setMax(convexToLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
{
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;
}
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
btVector3 rayAabbMinLocal = convexFromLocal;
rayAabbMinLocal.setMin(convexToLocal);
btVector3 rayAabbMaxLocal = convexFromLocal;
rayAabbMaxLocal.setMax(convexToLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
}
}
} else {
///@todo : use AABB tree or other BVH acceleration structure!
@ -1162,15 +1198,14 @@ public:
wv1 = m_worldTrans*triangle[1];
wv2 = m_worldTrans*triangle[2];
btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
btVector3 normal = (wv1-wv0).cross(wv2-wv0);
normal.normalize();
btVector3 normalColor(1,1,0);
m_debugDrawer->drawLine(center,center+normal,normalColor);
if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals )
{
btVector3 normal = (wv1-wv0).cross(wv2-wv0);
normal.normalize();
btVector3 normalColor(1,1,0);
m_debugDrawer->drawLine(center,center+normal,normalColor);
}
m_debugDrawer->drawLine(wv0,wv1,m_color);
m_debugDrawer->drawLine(wv1,wv2,m_color);
m_debugDrawer->drawLine(wv2,wv0,m_color);
@ -1195,126 +1230,162 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
} else
{
switch (shape->getShapeType())
/// for polyhedral shapes
if (shape->isPolyhedral())
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
case BOX_SHAPE_PROXYTYPE:
int i;
if (polyshape->getConvexPolyhedron())
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
getDebugDrawer()->drawSphere(radius, worldTransform, color);
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
btTransform childTransform;
childTransform.setIdentity();
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
for (i=0;i<poly->m_faces.size();i++)
{
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
}
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
btScalar radius = capsuleShape->getRadius();
btScalar halfHeight = capsuleShape->getHalfHeight();
int upAxis = capsuleShape->getUpAxis();
getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
break;
}
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
btScalar height = coneShape->getHeight();//+coneShape->getMargin();
int upAxis= coneShape->getConeUpIndex();
getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
btScalar radius = cylinder->getRadius();
btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
break;
}
case STATIC_PLANE_PROXYTYPE:
{
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
break;
}
default:
{
if (shape->isConcave())
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
///@todo pass camera, for some culling? no -> we are not a graphics lib
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
}
if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//DebugDrawcallback drawCallback;
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
/// for polyhedral shapes
if (shape->isPolyhedral())
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
int i;
for (i=0;i<polyshape->getNumEdges();i++)
btVector3 centroid(0,0,0);
int numVerts = poly->m_faces[i].m_indices.size();
if (numVerts)
{
btVector3 a,b;
polyshape->getEdge(i,a,b);
btVector3 wa = worldTransform * a;
btVector3 wb = worldTransform * b;
getDebugDrawer()->drawLine(wa,wb,color);
int lastV = poly->m_faces[i].m_indices[numVerts-1];
for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
{
int curVert = poly->m_faces[i].m_indices[v];
centroid+=poly->m_vertices[curVert];
getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
lastV = curVert;
}
}
centroid*= btScalar(1.f)/btScalar(numVerts);
if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
{
btVector3 normalColor(1,1,0);
btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
}
}
} else
{
for (i=0;i<polyshape->getNumEdges();i++)
{
btVector3 a,b;
polyshape->getEdge(i,a,b);
btVector3 wa = worldTransform * a;
btVector3 wb = worldTransform * b;
getDebugDrawer()->drawLine(wa,wb,color);
}
}
}
else
{
switch (shape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
getDebugDrawer()->drawSphere(radius, worldTransform, color);
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
btTransform childTransform;
childTransform.setIdentity();
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
{
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
}
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
btScalar radius = capsuleShape->getRadius();
btScalar halfHeight = capsuleShape->getHalfHeight();
int upAxis = capsuleShape->getUpAxis();
getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
break;
}
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
btScalar height = coneShape->getHeight();//+coneShape->getMargin();
int upAxis= coneShape->getConeUpIndex();
getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
btScalar radius = cylinder->getRadius();
btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
break;
}
case STATIC_PLANE_PROXYTYPE:
{
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
break;
}
default:
{
if (shape->isConcave())
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
///@todo pass camera, for some culling? no -> we are not a graphics lib
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
}
if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//DebugDrawcallback drawCallback;
DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
}
}
}
@ -1327,7 +1398,7 @@ void btCollisionWorld::debugDrawWorld()
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
int numManifolds = getDispatcher()->getNumManifolds();
btVector3 color(0,0,0);
btVector3 color(1,0.65,0);
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
@ -1343,7 +1414,7 @@ void btCollisionWorld::debugDrawWorld()
}
}
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
{
int i;
@ -1352,7 +1423,7 @@ void btCollisionWorld::debugDrawWorld()
btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
{
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
{
btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
switch(colObj->getActivationState())
@ -1386,12 +1457,14 @@ void btCollisionWorld::debugDrawWorld()
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
{
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
}
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h vendored
View File

@ -62,8 +62,8 @@ subject to the following restrictions:
#ifndef COLLISION_WORLD_H
#define COLLISION_WORLD_H
#ifndef BT_COLLISION_WORLD_H
#define BT_COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
@ -506,4 +506,4 @@ public:
};
#endif //COLLISION_WORLD_H
#endif //BT_COLLISION_WORLD_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COMPOUND_COLLISION_ALGORITHM_H
#define COMPOUND_COLLISION_ALGORITHM_H
#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
#define BT_COMPOUND_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
@ -83,4 +83,4 @@ public:
};
#endif //COMPOUND_COLLISION_ALGORITHM_H
#endif //BT_COMPOUND_COLLISION_ALGORITHM_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
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
#ifndef BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@ -92,4 +92,4 @@ public:
};
#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H
#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H

15
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp vendored
View File

@ -91,7 +91,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
#if 0
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
@ -100,17 +100,8 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= btScalar(0.333333);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
}
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
#endif
if (m_convexBody->getCollisionShape()->isConvex())
{
@ -119,7 +110,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
if (m_resultOut->getBody0Internal() == m_triBody)

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
@ -113,4 +113,4 @@ public:
};
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H

281
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp vendored
View File

@ -17,6 +17,7 @@ subject to the following restrictions:
///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
//#define ZERO_MARGIN
#include "btConvexConvexAlgorithm.h"
@ -26,6 +27,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@ -48,7 +51,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
///////////
@ -331,6 +334,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
@ -357,13 +362,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
} else
#endif //USE_SEPDISTANCE_UTIL2
{
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();
}
//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;
}
@ -371,7 +377,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
@ -389,6 +395,155 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
}
#endif //USE_SEPDISTANCE_UTIL2
if (min0->isPolyhedral() && min1->isPolyhedral())
{
struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
{
virtual void setShapeIdentifiersA(int partId0,int index0){}
virtual void setShapeIdentifiersB(int partId1,int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
}
};
btDummyResult dummy;
btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
{
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar minDist = -1e30f;
btVector3 sepNormalWorldSpace;
bool foundSepAxis = true;
if (dispatchInfo.m_enableSatConvex)
{
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(),
sepNormalWorldSpace);
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#else
//gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
#ifdef ZERO_MARGIN
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
#endif
}
}
if (foundSepAxis)
{
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
} else
{
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
{
btVertexArray vertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[2]);
//tri->initializePolyhedralFeatures();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btVector3 sepNormalWorldSpace;
btScalar minDist =-1e30f;
btScalar maxDist = threshold;
bool foundSepAxis = false;
if (0)
{
polyhedronB->initializePolyhedralFeatures();
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(),
sepNormalWorldSpace);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#else
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
foundSepAxis = true;
}
}
if (foundSepAxis)
{
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
body0->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
}
}
}
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
@ -398,66 +553,70 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
int i;
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
if (l2>SIMD_EPSILON)
{
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
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);
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
if (perturbeA)
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
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);
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
}
}
}
}
@ -487,7 +646,7 @@ btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,
{
(void)resultOut;
(void)dispatchInfo;
///rather than checking ALL pairs, only calculate TOI when motion exceeds threshold
///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,

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONVEX_ALGORITHM_H
#define CONVEX_CONVEX_ALGORITHM_H
#ifndef BT_CONVEX_CONVEX_ALGORITHM_H
#define BT_CONVEX_CONVEX_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@ -106,4 +106,4 @@ public:
};
#endif //CONVEX_CONVEX_ALGORITHM_H
#endif //BT_CONVEX_CONVEX_ALGORITHM_H

32
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp vendored
View File

@ -96,23 +96,41 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
if (!m_manifoldPtr)
return;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
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();
btTransform planeInConvex;
planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
//first perform a collision query with the non-perturbated collision objects
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
btQuaternion rotq(0,0,0,1);
collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
//the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
//they keep on rolling forever because of the additional off-center contact points
//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
{
btVector3 v0,v1;
btPlaneSpace1(planeNormal,v0,v1);

8
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
#define CONVEX_PLANE_COLLISION_ALGORITHM_H
#ifndef BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
#define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -61,7 +61,7 @@ public:
CreateFunc()
: m_numPerturbationIterations(1),
m_minimumPointsPerturbationThreshold(1)
m_minimumPointsPerturbationThreshold(0)
{
}
@ -80,5 +80,5 @@ public:
};
#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H
#endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H

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

@ -296,3 +296,14 @@ void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int nu
convexConvex->m_numPerturbationIterations = numPerturbationIterations;
convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF;
cpCF->m_numPerturbationIterations = numPerturbationIterations;
cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
pcCF->m_numPerturbationIterations = numPerturbationIterations;
pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}

2
extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h vendored
View File

@ -129,6 +129,8 @@ public:
///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EMPTY_ALGORITH
#define EMPTY_ALGORITH
#ifndef BT_EMPTY_ALGORITH
#define BT_EMPTY_ALGORITH
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
@ -51,4 +51,4 @@ public:
} ATTRIBUTE_ALIGNED(16);
#endif //EMPTY_ALGORITH
#endif //BT_EMPTY_ALGORITH

90
extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp vendored
View File

@ -1,6 +1,7 @@
#include "btInternalEdgeUtility.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
@ -9,7 +10,6 @@
//#define DEBUG_INTERNAL_EDGE
#ifdef DEBUG_INTERNAL_EDGE
#include <stdio.h>
#endif //DEBUG_INTERNAL_EDGE
@ -456,8 +456,14 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
btBvhTriangleMeshShape* trimesh = 0;
if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
else
trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
return;
@ -501,14 +507,63 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
if ((info->m_edgeV0V1Angle)< SIMD_2_PI)
// Get closest edge
int bestedge=-1;
btScalar disttobestedge=BT_LARGE_FLOAT;
//
// Edge 0 -> 1
if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
btVector3 nearest;
btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest );
btScalar len=(contact-nearest).length();
//
if( len < disttobestedge )
{
bestedge=0;
disttobestedge=len;
}
}
// Edge 1 -> 2
if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
btVector3 nearest;
btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest );
btScalar len=(contact-nearest).length();
//
if( len < disttobestedge )
{
bestedge=1;
disttobestedge=len;
}
}
// Edge 2 -> 0
if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
btVector3 nearest;
btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest );
btScalar len=(contact-nearest).length();
//
if( len < disttobestedge )
{
bestedge=2;
disttobestedge=len;
}
}
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f);
btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red );
#endif
if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#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)
if( bestedge==0 )
{
btVector3 edge(v0-v1);
isNearEdge = true;
@ -577,7 +632,11 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
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 * v1 + upfix, tr * v2 + upfix , green );
#endif
if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
@ -587,6 +646,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
if( bestedge==1 )
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
@ -658,8 +718,11 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue );
#endif
if ((info->m_edgeV2V0Angle)< SIMD_2_PI)
if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
@ -668,6 +731,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
if( bestedge==2 )
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
@ -759,11 +823,17 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
} else
{
btVector3 newNormal = tri_normal *frontFacing;
//if the tri_normal is pointing opposite direction as the current local contact normal, skip it
btScalar d = newNormal.dot(localContactNormalOnB) ;
if (d< 0)
{
return;
}
//modify the normal to be the triangle normal (or backfacing normal)
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *(tri_normal *frontFacing);
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *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);

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

@ -64,8 +64,8 @@ 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->getContactProcessingThreshold())
if (depth > m_manifoldPtr->getContactBreakingThreshold())
// if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h vendored
View File

@ -14,8 +14,8 @@ subject to the following restrictions:
*/
#ifndef MANIFOLD_RESULT_H
#define MANIFOLD_RESULT_H
#ifndef BT_MANIFOLD_RESULT_H
#define BT_MANIFOLD_RESULT_H
class btCollisionObject;
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@ -125,4 +125,4 @@ public:
};
#endif //MANIFOLD_RESULT_H
#endif //BT_MANIFOLD_RESULT_H

19
extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp vendored
View File

@ -47,6 +47,8 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
{
btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
if (numOverlappingPairs)
{
btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
for (int i=0;i<numOverlappingPairs;i++)
@ -63,6 +65,7 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
(colObj1)->getIslandTag());
}
}
}
}
}
@ -190,7 +193,7 @@ class btPersistentManifoldSortPredicate
{
public:
SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs ) const
{
return getIslandId(lhs) < getIslandId(rhs);
}
@ -327,11 +330,13 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->activate();
if (colObj0->hasContactResponse())
colObj1->activate();
}
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->activate();
if (colObj1->hasContactResponse())
colObj0->activate();
}
if(m_splitIslands)
{
@ -362,7 +367,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
{
btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
int maxNumManifolds = dispatcher->getNumManifolds();
callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
callback->processIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
}
else
{
@ -372,8 +377,10 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
int numManifolds = int (m_islandmanifold.size());
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
//tried a radix sort, but quicksort/heapsort seems still faster
//@todo rewrite island management
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
@ -427,7 +434,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (!islandSleeping)
{
callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
callback->processIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}

8
extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SIMULATION_ISLAND_MANAGER_H
#define SIMULATION_ISLAND_MANAGER_H
#ifndef BT_SIMULATION_ISLAND_MANAGER_H
#define BT_SIMULATION_ISLAND_MANAGER_H
#include "BulletCollision/CollisionDispatch/btUnionFind.h"
#include "btCollisionCreateFunc.h"
@ -59,7 +59,7 @@ public:
{
virtual ~IslandCallback() {};
virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
virtual void processIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
};
void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
@ -77,5 +77,5 @@ public:
};
#endif //SIMULATION_ISLAND_MANAGER_H
#endif //BT_SIMULATION_ISLAND_MANAGER_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
#define SPHERE_BOX_COLLISION_ALGORITHM_H
#ifndef BT_SPHERE_BOX_COLLISION_ALGORITHM_H
#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -71,5 +71,5 @@ public:
};
#endif //SPHERE_BOX_COLLISION_ALGORITHM_H
#endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
#ifndef BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
#define BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -62,5 +62,5 @@ public:
};
#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H
#endif //BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
#ifndef BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
#define BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -65,5 +65,5 @@ public:
};
#endif //SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
#endif //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H

2
extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp vendored
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@ -53,7 +53,7 @@ class btUnionFindElementSortPredicate
{
public:
bool operator() ( const btElement& lhs, const btElement& rhs )
bool operator() ( const btElement& lhs, const btElement& rhs ) const
{
return lhs.m_id < rhs.m_id;
}

6
extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef UNION_FIND_H
#define UNION_FIND_H
#ifndef BT_UNION_FIND_H
#define BT_UNION_FIND_H
#include "LinearMath/btAlignedObjectArray.h"
@ -126,4 +126,4 @@ class btUnionFind
};
#endif //UNION_FIND_H
#endif //BT_UNION_FIND_H

12
extern/bullet2/src/BulletCollision/CollisionShapes/btBox2dShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
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
#ifndef BT_OBB_BOX_2D_SHAPE_H
#define BT_OBB_BOX_2D_SHAPE_H
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@ -83,6 +83,7 @@ public:
}
///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
btBox2dShape( const btVector3& boxHalfExtents)
: btPolyhedralConvexShape(),
m_centroid(0,0,0)
@ -97,6 +98,11 @@ public:
m_normals[2].setValue(0,1,0);
m_normals[3].setValue(-1,0,0);
btScalar minDimension = boxHalfExtents.getX();
if (minDimension>boxHalfExtents.getY())
minDimension = boxHalfExtents.getY();
setSafeMargin(minDimension);
m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
@ -358,6 +364,6 @@ public:
};
#endif //OBB_BOX_2D_SHAPE_H
#endif //BT_OBB_BOX_2D_SHAPE_H

12
extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp vendored
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@ -14,8 +14,18 @@ subject to the following restrictions:
*/
#include "btBoxShape.h"
btBoxShape::btBoxShape( const btVector3& boxHalfExtents)
: btPolyhedralConvexShape()
{
m_shapeType = BOX_SHAPE_PROXYTYPE;
setSafeMargin(boxHalfExtents);
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
};
//{
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const

16
extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OBB_BOX_MINKOWSKI_H
#define OBB_BOX_MINKOWSKI_H
#ifndef BT_OBB_BOX_MINKOWSKI_H
#define BT_OBB_BOX_MINKOWSKI_H
#include "btPolyhedralConvexShape.h"
#include "btCollisionMargin.h"
@ -80,13 +80,7 @@ public:
}
btBoxShape( const btVector3& boxHalfExtents)
: btPolyhedralConvexShape()
{
m_shapeType = BOX_SHAPE_PROXYTYPE;
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
};
btBoxShape( const btVector3& boxHalfExtents);
virtual void setMargin(btScalar collisionMargin)
{
@ -145,7 +139,7 @@ public:
virtual void getVertex(int i,btVector3& vtx) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 halfExtents = getHalfExtentsWithMargin();
vtx = btVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
@ -313,6 +307,6 @@ public:
};
#endif //OBB_BOX_MINKOWSKI_H
#endif //BT_OBB_BOX_MINKOWSKI_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BVH_TRIANGLE_MESH_SHAPE_H
#define BVH_TRIANGLE_MESH_SHAPE_H
#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
#define BT_BVH_TRIANGLE_MESH_SHAPE_H
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
@ -136,4 +136,4 @@ SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() con
#endif //BVH_TRIANGLE_MESH_SHAPE_H
#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H

8
extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp vendored
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@ -55,7 +55,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@ -67,7 +67,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@ -96,7 +96,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@ -107,7 +107,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{

11
extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionMargin.h vendored
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@ -13,14 +13,15 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_MARGIN_H
#define COLLISION_MARGIN_H
//used by Gjk and some other algorithms
#ifndef BT_COLLISION_MARGIN_H
#define BT_COLLISION_MARGIN_H
///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape.
///This collision margin is used by Gjk and some other algorithms
///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API
#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
#endif //COLLISION_MARGIN_H
#endif //BT_COLLISION_MARGIN_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_SHAPE_H
#define COLLISION_SHAPE_H
#ifndef BT_COLLISION_SHAPE_H
#define BT_COLLISION_SHAPE_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
@ -146,5 +146,5 @@ SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
#endif //COLLISION_SHAPE_H
#endif //BT_COLLISION_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COMPOUND_SHAPE_H
#define COMPOUND_SHAPE_H
#ifndef BT_COMPOUND_SHAPE_H
#define BT_COMPOUND_SHAPE_H
#include "btCollisionShape.h"
@ -209,4 +209,4 @@ SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
#endif //COMPOUND_SHAPE_H
#endif //BT_COMPOUND_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONCAVE_SHAPE_H
#define CONCAVE_SHAPE_H
#ifndef BT_CONCAVE_SHAPE_H
#define BT_CONCAVE_SHAPE_H
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@ -57,4 +57,4 @@ public:
};
#endif //CONCAVE_SHAPE_H
#endif //BT_CONCAVE_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONE_MINKOWSKI_H
#define CONE_MINKOWSKI_H
#ifndef BT_CONE_MINKOWSKI_H
#define BT_CONE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@ -99,5 +99,5 @@ class btConeShapeZ : public btConeShape
public:
btConeShapeZ(btScalar radius,btScalar height);
};
#endif //CONE_MINKOWSKI_H
#endif //BT_CONE_MINKOWSKI_H

44
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp vendored
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@ -208,4 +208,48 @@ const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
return "btConvexHullShapeData";
}
void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
{
#if 1
min = FLT_MAX;
max = -FLT_MAX;
btVector3 witnesPtMin;
btVector3 witnesPtMax;
int numVerts = m_unscaledPoints.size();
for(int i=0;i<numVerts;i++)
{
btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
btVector3 pt = trans * vtx;
btScalar dp = pt.dot(dir);
if(dp < min)
{
min = dp;
witnesPtMin = pt;
}
if(dp > max)
{
max = dp;
witnesPtMax=pt;
}
}
#else
btVector3 localAxis = dir*trans.getBasis();
btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
min = vtx1.dot(dir);
max = vtx2.dot(dir);
#endif
if(min>max)
{
btScalar tmp = min;
min = max;
max = tmp;
}
}

8
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h vendored
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@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_HULL_SHAPE_H
#define CONVEX_HULL_SHAPE_H
#ifndef BT_CONVEX_HULL_SHAPE_H
#define BT_CONVEX_HULL_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@ -73,6 +73,8 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
//debugging
virtual const char* getName()const {return "Convex";}
@ -116,5 +118,5 @@ SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
}
#endif //CONVEX_HULL_SHAPE_H
#endif //BT_CONVEX_HULL_SHAPE_H

22
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.h vendored
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@ -21,6 +21,11 @@ subject to the following restrictions:
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
///Note that when creating small shapes (derived from btConvexInternalShape),
///you need to make sure to set a smaller collision margin, using the 'setMargin' API
///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
class btConvexInternalShape : public btConvexShape
{
@ -62,6 +67,23 @@ public:
m_implicitShapeDimensions = dimensions;
}
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
{
btScalar safeMargin = defaultMarginMultiplier*minDimension;
if (safeMargin < getMargin())
{
setMargin(safeMargin);
}
}
void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
{
//see http://code.google.com/p/bullet/issues/detail?id=349
//this margin check could could be added to other collision shapes too,
//or add some assert/warning somewhere
btScalar minDimension=halfExtents[halfExtents.minAxis()];
setSafeMargin(minDimension, defaultMarginMultiplier);
}
///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
{

296
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp vendored Normal file
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@ -0,0 +1,296 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. 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.
*/
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#include "btConvexPolyhedron.h"
#include "LinearMath/btHashMap.h"
btConvexPolyhedron::btConvexPolyhedron()
{
}
btConvexPolyhedron::~btConvexPolyhedron()
{
}
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
struct btInternalVertexPair
{
btInternalVertexPair(short int v0,short int v1)
:m_v0(v0),
m_v1(v1)
{
if (m_v1>m_v0)
btSwap(m_v0,m_v1);
}
short int m_v0;
short int m_v1;
int getHash() const
{
return m_v0+(m_v1<<16);
}
bool equals(const btInternalVertexPair& other) const
{
return m_v0==other.m_v0 && m_v1==other.m_v1;
}
};
struct btInternalEdge
{
btInternalEdge()
:m_face0(-1),
m_face1(-1)
{
}
short int m_face0;
short int m_face1;
};
//
#ifdef TEST_INTERNAL_OBJECTS
bool btConvexPolyhedron::testContainment() const
{
for(int p=0;p<8;p++)
{
btVector3 LocalPt;
if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
if(d>0.0f)
return false;
}
}
return true;
}
#endif
void btConvexPolyhedron::initialize()
{
btHashMap<btInternalVertexPair,btInternalEdge> edges;
btScalar TotalArea = 0.0f;
m_localCenter.setValue(0, 0, 0);
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices;
for(int j=0;j<NbTris;j++)
{
int k = (j+1)%numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp);
btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
edge.normalize();
bool found = false;
for (int p=0;p<m_uniqueEdges.size();p++)
{
if (IsAlmostZero(m_uniqueEdges[p]-edge) ||
IsAlmostZero(m_uniqueEdges[p]+edge))
{
found = true;
break;
}
}
if (!found)
{
m_uniqueEdges.push_back(edge);
}
if (edptr)
{
btAssert(edptr->m_face0>=0);
btAssert(edptr->m_face1<0);
edptr->m_face1 = i;
} else
{
btInternalEdge ed;
ed.m_face0 = i;
edges.insert(vp,ed);
}
}
}
#ifdef USE_CONNECTED_FACES
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
m_faces[i].m_connectedFaces.resize(numVertices);
for(int j=0;j<numVertices;j++)
{
int k = (j+1)%numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp);
btAssert(edptr);
btAssert(edptr->m_face0>=0);
btAssert(edptr->m_face1>=0);
int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
m_faces[i].m_connectedFaces[j] = connectedFace;
}
}
#endif//USE_CONNECTED_FACES
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices-2;
const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
for(int j=1;j<=NbTris;j++)
{
int k = (j+1)%numVertices;
const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
btVector3 Center = (p0+p1+p2)/3.0f;
m_localCenter += Area * Center;
TotalArea += Area;
}
}
m_localCenter /= TotalArea;
#ifdef TEST_INTERNAL_OBJECTS
if(1)
{
m_radius = FLT_MAX;
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
if(dist<m_radius)
m_radius = dist;
}
btScalar MinX = FLT_MAX;
btScalar MinY = FLT_MAX;
btScalar MinZ = FLT_MAX;
btScalar MaxX = -FLT_MAX;
btScalar MaxY = -FLT_MAX;
btScalar MaxZ = -FLT_MAX;
for(int i=0; i<m_vertices.size(); i++)
{
const btVector3& pt = m_vertices[i];
if(pt.x()<MinX) MinX = pt.x();
if(pt.x()>MaxX) MaxX = pt.x();
if(pt.y()<MinY) MinY = pt.y();
if(pt.y()>MaxY) MaxY = pt.y();
if(pt.z()<MinZ) MinZ = pt.z();
if(pt.z()>MaxZ) MaxZ = pt.z();
}
mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
// const btScalar r = m_radius / sqrtf(2.0f);
const btScalar r = m_radius / sqrtf(3.0f);
const int LargestExtent = mE.maxAxis();
const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
m_extents[0] = m_extents[1] = m_extents[2] = r;
m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
bool FoundBox = false;
for(int j=0;j<1024;j++)
{
if(testContainment())
{
FoundBox = true;
break;
}
m_extents[LargestExtent] -= Step;
}
if(!FoundBox)
{
m_extents[0] = m_extents[1] = m_extents[2] = r;
}
else
{
// Refine the box
const btScalar Step = (m_radius - r)/1024.0f;
const int e0 = (1<<LargestExtent) & 3;
const int e1 = (1<<e0) & 3;
for(int j=0;j<1024;j++)
{
const btScalar Saved0 = m_extents[e0];
const btScalar Saved1 = m_extents[e1];
m_extents[e0] += Step;
m_extents[e1] += Step;
if(!testContainment())
{
m_extents[e0] = Saved0;
m_extents[e1] = Saved1;
break;
}
}
}
}
#endif
}
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
int numVerts = m_vertices.size();
for(int i=0;i<numVerts;i++)
{
btVector3 pt = trans * m_vertices[i];
btScalar dp = pt.dot(dir);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
btScalar tmp = min;
min = max;
max = tmp;
}
}

62
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h vendored Normal file
View File

@ -0,0 +1,62 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. 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.
*/
///This file was written by Erwin Coumans
#ifndef _BT_POLYHEDRAL_FEATURES_H
#define _BT_POLYHEDRAL_FEATURES_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"
#define TEST_INTERNAL_OBJECTS 1
struct btFace
{
btAlignedObjectArray<int> m_indices;
// btAlignedObjectArray<int> m_connectedFaces;
btScalar m_plane[4];
};
class btConvexPolyhedron
{
public:
btConvexPolyhedron();
virtual ~btConvexPolyhedron();
btAlignedObjectArray<btVector3> m_vertices;
btAlignedObjectArray<btFace> m_faces;
btAlignedObjectArray<btVector3> m_uniqueEdges;
btVector3 m_localCenter;
btVector3 m_extents;
btScalar m_radius;
btVector3 mC;
btVector3 mE;
void initialize();
bool testContainment() const;
void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
};
#endif //_BT_POLYHEDRAL_FEATURES_H

21
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp vendored
View File

@ -43,6 +43,23 @@ btConvexShape::~btConvexShape()
}
void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
{
btVector3 localAxis = dir*trans.getBasis();
btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
min = vtx1.dot(dir);
max = vtx2.dot(dir);
if(min>max)
{
btScalar tmp = min;
min = max;
max = tmp;
}
}
static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
{
@ -227,7 +244,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
pos[capsuleUpAxis] = halfHeight;
//vtx = pos +vec*(radius);
vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx);
@ -242,7 +259,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
pos[capsuleUpAxis] = -halfHeight;
//vtx = pos +vec*(radius);
vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{

8
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_SHAPE_INTERFACE1
#define CONVEX_SHAPE_INTERFACE1
#ifndef BT_CONVEX_SHAPE_INTERFACE1
#define BT_CONVEX_SHAPE_INTERFACE1
#include "btCollisionShape.h"
@ -52,6 +52,8 @@ public:
btScalar getMarginNonVirtual () const;
void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
@ -79,4 +81,4 @@ public:
#endif //CONVEX_SHAPE_INTERFACE1
#endif //BT_CONVEX_SHAPE_INTERFACE1

6
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h vendored
View File

@ -12,8 +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.
*/
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
#define CONVEX_TRIANGLEMESH_SHAPE_H
#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
#include "btPolyhedralConvexShape.h"
@ -69,7 +69,7 @@ public:
#endif //CONVEX_TRIANGLEMESH_SHAPE_H
#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H

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

@ -19,6 +19,8 @@ btCylinderShape::btCylinderShape (const btVector3& halfExtents)
:btConvexInternalShape(),
m_upAxis(1)
{
setSafeMargin(halfExtents);
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;

6
extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CYLINDER_MINKOWSKI_H
#define CYLINDER_MINKOWSKI_H
#ifndef BT_CYLINDER_MINKOWSKI_H
#define BT_CYLINDER_MINKOWSKI_H
#include "btBoxShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@ -196,5 +196,5 @@ SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSer
#endif //CYLINDER_MINKOWSKI_H
#endif //BT_CYLINDER_MINKOWSKI_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EMPTY_SHAPE_H
#define EMPTY_SHAPE_H
#ifndef BT_EMPTY_SHAPE_H
#define BT_EMPTY_SHAPE_H
#include "btConcaveShape.h"
@ -67,4 +67,4 @@ protected:
#endif //EMPTY_SHAPE_H
#endif //BT_EMPTY_SHAPE_H

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

@ -21,7 +21,7 @@ subject to the following restrictions:
btHeightfieldTerrainShape::btHeightfieldTerrainShape
(
int heightStickWidth, int heightStickLength, void* heightfieldData,
int heightStickWidth, int heightStickLength, const void* heightfieldData,
btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
PHY_ScalarType hdt, bool flipQuadEdges
)
@ -33,7 +33,7 @@ PHY_ScalarType hdt, bool flipQuadEdges
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
{
// legacy constructor: support only float or unsigned char,
// and min height is zero
@ -53,7 +53,7 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h
void btHeightfieldTerrainShape::initialize
(
int heightStickWidth, int heightStickLength, void* heightfieldData,
int heightStickWidth, int heightStickLength, const void* heightfieldData,
btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType hdt, bool flipQuadEdges
)

20
extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
#define HEIGHTFIELD_TERRAIN_SHAPE_H
#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#include "btConcaveShape.h"
@ -85,10 +85,10 @@ protected:
btScalar m_heightScale;
union
{
unsigned char* m_heightfieldDataUnsignedChar;
short* m_heightfieldDataShort;
btScalar* m_heightfieldDataFloat;
void* m_heightfieldDataUnknown;
const unsigned char* m_heightfieldDataUnsignedChar;
const short* m_heightfieldDataShort;
const btScalar* m_heightfieldDataFloat;
const void* m_heightfieldDataUnknown;
};
PHY_ScalarType m_heightDataType;
@ -111,7 +111,7 @@ protected:
backwards-compatible without a lot of copy/paste.
*/
void initialize(int heightStickWidth, int heightStickLength,
void* heightfieldData, btScalar heightScale,
const void* heightfieldData, btScalar heightScale,
btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType heightDataType, bool flipQuadEdges);
@ -123,7 +123,7 @@ public:
heightScale is needed for any integer-based heightfield data types.
*/
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
void* heightfieldData, btScalar heightScale,
const void* heightfieldData, btScalar heightScale,
btScalar minHeight, btScalar maxHeight,
int upAxis, PHY_ScalarType heightDataType,
bool flipQuadEdges);
@ -135,7 +135,7 @@ public:
compatibility reasons, heightScale is calculated as maxHeight / 65535
(and is only used when useFloatData = false).
*/
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
virtual ~btHeightfieldTerrainShape();
@ -158,4 +158,4 @@ public:
};
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btMaterial.h vendored
View File

@ -15,8 +15,8 @@ subject to the following restrictions:
/// This file was created by Alex Silverman
#ifndef MATERIAL_H
#define MATERIAL_H
#ifndef BT_MATERIAL_H
#define BT_MATERIAL_H
// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
class btMaterial
@ -31,5 +31,5 @@ public:
btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
};
#endif // MATERIAL_H
#endif // BT_MATERIAL_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef MINKOWSKI_SUM_SHAPE_H
#define MINKOWSKI_SUM_SHAPE_H
#ifndef BT_MINKOWSKI_SUM_SHAPE_H
#define BT_MINKOWSKI_SUM_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@ -57,4 +57,4 @@ public:
}
};
#endif //MINKOWSKI_SUM_SHAPE_H
#endif //BT_MINKOWSKI_SUM_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef MULTI_SPHERE_MINKOWSKI_H
#define MULTI_SPHERE_MINKOWSKI_H
#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
#define BT_MULTI_SPHERE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@ -96,4 +96,4 @@ SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
#endif //MULTI_SPHERE_MINKOWSKI_H
#endif //BT_MULTI_SPHERE_MINKOWSKI_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h vendored
View File

@ -15,8 +15,8 @@ subject to the following restrictions:
/// This file was created by Alex Silverman
#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#ifndef BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#define BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#include "btBvhTriangleMeshShape.h"
#include "btMaterial.h"
@ -117,4 +117,4 @@ public:
}
;
#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#endif //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H

4
extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp vendored
View File

@ -43,7 +43,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
NodeTriangleCallback& operator=(NodeTriangleCallback& other)
{
m_triangleNodes = other.m_triangleNodes;
m_triangleNodes.copyFromArray(other.m_triangleNodes);
return *this;
}
@ -84,7 +84,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
{
m_triangleNodes = other.m_triangleNodes;
m_triangleNodes.copyFromArray(other.m_triangleNodes);
m_optimizedTree = other.m_optimizedTree;
return *this;
}

6
extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h vendored
View File

@ -15,8 +15,8 @@ subject to the following restrictions:
///Contains contributions from Disney Studio's
#ifndef OPTIMIZED_BVH_H
#define OPTIMIZED_BVH_H
#ifndef BT_OPTIMIZED_BVH_H
#define BT_OPTIMIZED_BVH_H
#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
@ -60,6 +60,6 @@ public:
};
#endif //OPTIMIZED_BVH_H
#endif //BT_OPTIMIZED_BVH_H

288
extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp vendored
View File

@ -14,12 +14,291 @@ subject to the following restrictions:
*/
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "btConvexPolyhedron.h"
#include "LinearMath/btConvexHullComputer.h"
#include <new>
#include "LinearMath/btGeometryUtil.h"
#include "LinearMath/btGrahamScan2dConvexHull.h"
btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
m_polyhedron(0)
{
}
btPolyhedralConvexShape::~btPolyhedralConvexShape()
{
if (m_polyhedron)
{
btAlignedFree(m_polyhedron);
}
}
bool btPolyhedralConvexShape::initializePolyhedralFeatures()
{
if (m_polyhedron)
btAlignedFree(m_polyhedron);
void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
m_polyhedron = new (mem) btConvexPolyhedron;
btAlignedObjectArray<btVector3> orgVertices;
for (int i=0;i<getNumVertices();i++)
{
btVector3& newVertex = orgVertices.expand();
getVertex(i,newVertex);
}
#if 0
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] -= getMargin();
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> tmpVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
btConvexHullComputer conv;
conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
#else
btConvexHullComputer conv;
conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
#endif
btAlignedObjectArray<btVector3> faceNormals;
int numFaces = conv.faces.size();
faceNormals.resize(numFaces);
btConvexHullComputer* convexUtil = &conv;
btAlignedObjectArray<btFace> tmpFaces;
tmpFaces.resize(numFaces);
int numVertices = convexUtil->vertices.size();
m_polyhedron->m_vertices.resize(numVertices);
for (int p=0;p<numVertices;p++)
{
m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
}
for (int i=0;i<numFaces;i++)
{
int face = convexUtil->faces[i];
//printf("face=%d\n",face);
const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
const btConvexHullComputer::Edge* edge = firstEdge;
btVector3 edges[3];
int numEdges = 0;
//compute face normals
btScalar maxCross2 = 0.f;
int chosenEdge = -1;
do
{
int src = edge->getSourceVertex();
tmpFaces[i].m_indices.push_back(src);
int targ = edge->getTargetVertex();
btVector3 wa = convexUtil->vertices[src];
btVector3 wb = convexUtil->vertices[targ];
btVector3 newEdge = wb-wa;
newEdge.normalize();
if (numEdges<2)
edges[numEdges++] = newEdge;
edge = edge->getNextEdgeOfFace();
} while (edge!=firstEdge);
btScalar planeEq = 1e30f;
if (numEdges==2)
{
faceNormals[i] = edges[0].cross(edges[1]);
faceNormals[i].normalize();
tmpFaces[i].m_plane[0] = faceNormals[i].getX();
tmpFaces[i].m_plane[1] = faceNormals[i].getY();
tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
tmpFaces[i].m_plane[3] = planeEq;
}
else
{
btAssert(0);//degenerate?
faceNormals[i].setZero();
}
for (int v=0;v<tmpFaces[i].m_indices.size();v++)
{
btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
if (planeEq>eq)
{
planeEq=eq;
}
}
tmpFaces[i].m_plane[3] = -planeEq;
}
//merge coplanar faces and copy them to m_polyhedron
btScalar faceWeldThreshold= 0.999f;
btAlignedObjectArray<int> todoFaces;
for (int i=0;i<tmpFaces.size();i++)
todoFaces.push_back(i);
while (todoFaces.size())
{
btAlignedObjectArray<int> coplanarFaceGroup;
int refFace = todoFaces[todoFaces.size()-1];
coplanarFaceGroup.push_back(refFace);
btFace& faceA = tmpFaces[refFace];
todoFaces.pop_back();
btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
for (int j=todoFaces.size()-1;j>=0;j--)
{
int i = todoFaces[j];
btFace& faceB = tmpFaces[i];
btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
{
coplanarFaceGroup.push_back(i);
todoFaces.remove(i);
}
}
bool did_merge = false;
if (coplanarFaceGroup.size()>1)
{
//do the merge: use Graham Scan 2d convex hull
btAlignedObjectArray<GrahamVector2> orgpoints;
for (int i=0;i<coplanarFaceGroup.size();i++)
{
// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
btFace& face = tmpFaces[coplanarFaceGroup[i]];
btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
btVector3 xyPlaneNormal(0,0,1);
btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal);
for (int f=0;f<face.m_indices.size();f++)
{
int orgIndex = face.m_indices[f];
btVector3 pt = m_polyhedron->m_vertices[orgIndex];
btVector3 rotatedPt = quatRotate(rotationArc,pt);
rotatedPt.setZ(0);
bool found = false;
for (int i=0;i<orgpoints.size();i++)
{
//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
if (orgpoints[i].m_orgIndex == orgIndex)
{
found=true;
break;
}
}
if (!found)
orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
}
}
btFace combinedFace;
for (int i=0;i<4;i++)
combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
btAlignedObjectArray<GrahamVector2> hull;
GrahamScanConvexHull2D(orgpoints,hull);
for (int i=0;i<hull.size();i++)
{
combinedFace.m_indices.push_back(hull[i].m_orgIndex);
for(int k = 0; k < orgpoints.size(); k++) {
if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) {
orgpoints[k].m_orgIndex = -1; // invalidate...
break;
}
}
}
// are there rejected vertices?
bool reject_merge = false;
for(int i = 0; i < orgpoints.size(); i++) {
if(orgpoints[i].m_orgIndex == -1)
continue; // this is in the hull...
// this vertex is rejected -- is anybody else using this vertex?
for(int j = 0; j < tmpFaces.size(); j++) {
btFace& face = tmpFaces[j];
// is this a face of the current coplanar group?
bool is_in_current_group = false;
for(int k = 0; k < coplanarFaceGroup.size(); k++) {
if(coplanarFaceGroup[k] == j) {
is_in_current_group = true;
break;
}
}
if(is_in_current_group) // ignore this face...
continue;
// does this face use this rejected vertex?
for(int v = 0; v < face.m_indices.size(); v++) {
if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
// this rejected vertex is used in another face -- reject merge
reject_merge = true;
break;
}
}
if(reject_merge)
break;
}
if(reject_merge)
break;
}
if(!reject_merge) {
// do this merge!
did_merge = true;
m_polyhedron->m_faces.push_back(combinedFace);
}
}
if(!did_merge)
{
for (int i=0;i<coplanarFaceGroup.size();i++)
{
m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
}
}
}
m_polyhedron->initialize();
return true;
}
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
@ -183,11 +462,14 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i]+m_collisionMargin;
m_localAabbMax[i] = tmp[i];
vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin;
m_localAabbMin[i] = tmp[i];
}
#endif
}

20
extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h vendored
View File

@ -13,23 +13,37 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BU_SHAPE
#define BU_SHAPE
#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
#define BT_POLYHEDRAL_CONVEX_SHAPE_H
#include "LinearMath/btMatrix3x3.h"
#include "btConvexInternalShape.h"
class btConvexPolyhedron;
///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
class btPolyhedralConvexShape : public btConvexInternalShape
{
protected:
btConvexPolyhedron* m_polyhedron;
public:
btPolyhedralConvexShape();
virtual ~btPolyhedralConvexShape();
///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
virtual bool initializePolyhedralFeatures();
const btConvexPolyhedron* getConvexPolyhedron() const
{
return m_polyhedron;
}
//brute force implementations
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@ -95,4 +109,4 @@ public:
};
#endif //BU_SHAPE
#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SCALED_BVH_TRIANGLE_MESH_SHAPE_H
#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H
#ifndef BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
@ -90,4 +90,4 @@ SIMD_FORCE_INLINE const char* btScaledBvhTriangleMeshShape::serialize(void* data
}
#endif //BVH_TRIANGLE_MESH_SHAPE_H
#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btShapeHull.h vendored
View File

@ -15,8 +15,8 @@ subject to the following restrictions:
///btShapeHull implemented by John McCutchan.
#ifndef _SHAPE_HULL_H
#define _SHAPE_HULL_H
#ifndef BT_SHAPE_HULL_H
#define BT_SHAPE_HULL_H
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
@ -56,4 +56,4 @@ public:
}
};
#endif //_SHAPE_HULL_H
#endif //BT_SHAPE_HULL_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h vendored
View File

@ -12,8 +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.
*/
#ifndef SPHERE_MINKOWSKI_H
#define SPHERE_MINKOWSKI_H
#ifndef BT_SPHERE_MINKOWSKI_H
#define BT_SPHERE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
@ -70,4 +70,4 @@ public:
};
#endif //SPHERE_MINKOWSKI_H
#endif //BT_SPHERE_MINKOWSKI_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef STATIC_PLANE_SHAPE_H
#define STATIC_PLANE_SHAPE_H
#ifndef BT_STATIC_PLANE_SHAPE_H
#define BT_STATIC_PLANE_SHAPE_H
#include "btConcaveShape.h"
@ -97,7 +97,7 @@ SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, bt
}
#endif //STATIC_PLANE_SHAPE_H
#endif //BT_STATIC_PLANE_SHAPE_H

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

@ -253,9 +253,11 @@ const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
memPtr->m_indices16 = 0;
memPtr->m_indices32 = 0;
memPtr->m_3indices16 = 0;
memPtr->m_3indices8 = 0;
memPtr->m_vertices3f = 0;
memPtr->m_vertices3d = 0;
switch (gfxindextype)
{
case PHY_INTEGER:

6
extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef STRIDING_MESHINTERFACE_H
#define STRIDING_MESHINTERFACE_H
#ifndef BT_STRIDING_MESHINTERFACE_H
#define BT_STRIDING_MESHINTERFACE_H
#include "LinearMath/btVector3.h"
#include "btTriangleCallback.h"
@ -159,4 +159,4 @@ SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() co
#endif //STRIDING_MESHINTERFACE_H
#endif //BT_STRIDING_MESHINTERFACE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BU_SIMPLEX_1TO4_SHAPE
#define BU_SIMPLEX_1TO4_SHAPE
#ifndef BT_SIMPLEX_1TO4_SHAPE
#define BT_SIMPLEX_1TO4_SHAPE
#include "btPolyhedralConvexShape.h"
@ -71,4 +71,4 @@ public:
};
#endif //BU_SIMPLEX_1TO4_SHAPE
#endif //BT_SIMPLEX_1TO4_SHAPE

6
extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef TRIANGLE_CALLBACK_H
#define TRIANGLE_CALLBACK_H
#ifndef BT_TRIANGLE_CALLBACK_H
#define BT_TRIANGLE_CALLBACK_H
#include "LinearMath/btVector3.h"
@ -39,4 +39,4 @@ public:
#endif //TRIANGLE_CALLBACK_H
#endif //BT_TRIANGLE_CALLBACK_H

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

@ -29,9 +29,11 @@ ATTRIBUTE_ALIGNED16( struct) btIndexedMesh
int m_numTriangles;
const unsigned char * m_triangleIndexBase;
// Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
int m_triangleIndexStride;
int m_numVertices;
const unsigned char * m_vertexBase;
// Size of a vertex, in bytes
int m_vertexStride;
// The index type is set when adding an indexed mesh to the

3
extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h vendored
View File

@ -61,6 +61,7 @@ struct btTriangleInfoMap : public btInternalTriangleInfoMap
btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
@ -71,6 +72,7 @@ struct btTriangleInfoMap : public btInternalTriangleInfoMap
m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
m_edgeDistanceThreshold = btScalar(0.1);
m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
m_maxEdgeAngleThreshold = SIMD_2_PI;
}
virtual ~btTriangleInfoMap() {}
@ -83,6 +85,7 @@ struct btTriangleInfoMap : public btInternalTriangleInfoMap
};
///those fields have to be float and not btScalar for the serialization to work properly
struct btTriangleInfoData
{
int m_flags;

6
extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef TRIANGLE_MESH_H
#define TRIANGLE_MESH_H
#ifndef BT_TRIANGLE_MESH_H
#define BT_TRIANGLE_MESH_H
#include "btTriangleIndexVertexArray.h"
#include "LinearMath/btVector3.h"
@ -65,5 +65,5 @@ class btTriangleMesh : public btTriangleIndexVertexArray
};
#endif //TRIANGLE_MESH_H
#endif //BT_TRIANGLE_MESH_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef TRIANGLE_MESH_SHAPE_H
#define TRIANGLE_MESH_SHAPE_H
#ifndef BT_TRIANGLE_MESH_SHAPE_H
#define BT_TRIANGLE_MESH_SHAPE_H
#include "btConcaveShape.h"
#include "btStridingMeshInterface.h"
@ -86,4 +86,4 @@ public:
#endif //TRIANGLE_MESH_SHAPE_H
#endif //BT_TRIANGLE_MESH_SHAPE_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h vendored
View File

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OBB_TRIANGLE_MINKOWSKI_H
#define OBB_TRIANGLE_MINKOWSKI_H
#ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
#define BT_OBB_TRIANGLE_MINKOWSKI_H
#include "btConvexShape.h"
#include "btBoxShape.h"
@ -178,5 +178,5 @@ public:
};
#endif //OBB_TRIANGLE_MINKOWSKI_H
#endif //BT_OBB_TRIANGLE_MINKOWSKI_H

2
extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp vendored
View File

@ -58,7 +58,7 @@ class CONTACT_KEY_TOKEN_COMP
{
public:
bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b )
bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) const
{
return ( a < b );
}

6
extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h vendored
View File

@ -21,8 +21,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BVH_CONCAVE_COLLISION_ALGORITHM_H
#define BVH_CONCAVE_COLLISION_ALGORITHM_H
#ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
@ -303,4 +303,4 @@ public:
#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H
#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H

6
extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h vendored
View File

@ -1,5 +1,5 @@
#ifndef BT_QUANTIZATION_H_INCLUDED
#define BT_QUANTIZATION_H_INCLUDED
#ifndef BT_GIMPACT_QUANTIZATION_H_INCLUDED
#define BT_GIMPACT_QUANTIZATION_H_INCLUDED
/*! \file btQuantization.h
*\author Francisco Leon Najera
@ -85,4 +85,4 @@ SIMD_FORCE_INLINE btVector3 bt_unquantize(
#endif // GIM_VECTOR_H_INCLUDED
#endif // BT_GIMPACT_QUANTIZATION_H_INCLUDED

6
extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h vendored
View File

@ -22,8 +22,8 @@ subject to the following restrictions:
*/
#ifndef TRIANGLE_SHAPE_EX_H
#define TRIANGLE_SHAPE_EX_H
#ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
#define GIMPACT_TRIANGLE_SHAPE_EX_H
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
@ -177,4 +177,4 @@ public:
};
#endif //TRIANGLE_MESH_SHAPE_H
#endif //GIMPACT_TRIANGLE_MESH_SHAPE_H

135
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp vendored
View File

@ -22,20 +22,72 @@ subject to the following restrictions:
#include "btGjkPairDetector.h"
#include "btPointCollector.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_simplexSolver(simplexSolver),
m_penetrationDepthSolver(penetrationDepthSolver),
m_convexA(convexA),m_convexB(convexB)
m_convexA(convexA),m_convexB1(convexB),m_planeShape(0)
{
}
btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape* convexA,const btStaticPlaneShape* plane)
:m_simplexSolver(0),
m_penetrationDepthSolver(0),
m_convexA(convexA),m_convexB1(0),m_planeShape(plane)
{
}
/// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
/// You don't want your game ever to lock-up.
#define MAX_ITERATIONS 64
void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector)
{
if (m_convexB1)
{
m_simplexSolver->reset();
btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = transA;
input.m_transformB = transB;
gjk.getClosestPoints(input,pointCollector,0);
} else
{
//convex versus plane
const btConvexShape* convexShape = m_convexA;
const btStaticPlaneShape* planeShape = m_planeShape;
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform convexWorldTransform = transA;
btTransform convexInPlaneTrans;
convexInPlaneTrans= transB.inverse() * convexWorldTransform;
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * transB;
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected;
btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal;
pointCollector.addContactPoint(
normalOnSurfaceB,
vtxInPlaneWorld,
distance);
}
}
bool btContinuousConvexCollision::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
@ -44,7 +96,6 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
CastResult& result)
{
m_simplexSolver->reset();
/// compute linear and angular velocity for this interval, to interpolate
btVector3 linVelA,angVelA,linVelB,angVelB;
@ -53,7 +104,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
btScalar boundingRadiusB = m_convexB->getAngularMotionDisc();
btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f;
btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
btVector3 relLinVel = (linVelB-linVelA);
@ -64,7 +115,6 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
return false;
btScalar radius = btScalar(0.001);
btScalar lambda = btScalar(0.);
btVector3 v(1,0,0);
@ -83,28 +133,14 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
//first solution, using GJK
btTransform identityTrans;
identityTrans.setIdentity();
btSphereShape raySphere(btScalar(0.0));
raySphere.setMargin(btScalar(0.));
btScalar radius = 0.001f;
// result.drawCoordSystem(sphereTr);
btPointCollector pointCollector1;
{
btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
//we don't use margins during CCD
// gjk.setIgnoreMargin(true);
input.m_transformA = fromA;
input.m_transformB = fromB;
gjk.getClosestPoints(input,pointCollector1,0);
computeClosestPoints(fromA,fromB,pointCollector1);
hasResult = pointCollector1.m_hasResult;
c = pointCollector1.m_pointInWorld;
@ -113,11 +149,12 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
if (hasResult)
{
btScalar dist;
dist = pointCollector1.m_distance;
dist = pointCollector1.m_distance + result.m_allowedPenetration;
n = pointCollector1.m_normalOnBInWorld;
btScalar projectedLinearVelocity = relLinVel.dot(n);
if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
return false;
//not close enough
while (dist > radius)
{
@ -125,19 +162,10 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
{
result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1));
}
numIter++;
if (numIter > maxIter)
{
return false; //todo: report a failure
}
btScalar dLambda = btScalar(0.);
projectedLinearVelocity = relLinVel.dot(n);
//calculate safe moving fraction from distance / (linear+rotational velocity)
//btScalar clippedDist = GEN_min(angularConservativeRadius,dist);
//btScalar clippedDist = dist;
//don't report time of impact for motion away from the contact normal (or causes minor penetration)
if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
@ -182,37 +210,27 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
result.DebugDraw( lambda );
btPointCollector pointCollector;
btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = interpolatedTransA;
input.m_transformB = interpolatedTransB;
gjk.getClosestPoints(input,pointCollector,0);
computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector);
if (pointCollector.m_hasResult)
{
if (pointCollector.m_distance < btScalar(0.))
{
//degenerate ?!
result.m_fraction = lastLambda;
n = pointCollector.m_normalOnBInWorld;
result.m_normal=n;//.setValue(1,1,1);// = n;
result.m_hitPoint = pointCollector.m_pointInWorld;
return true;
}
dist = pointCollector.m_distance+result.m_allowedPenetration;
c = pointCollector.m_pointInWorld;
n = pointCollector.m_normalOnBInWorld;
dist = pointCollector.m_distance;
} else
{
//??
result.reportFailure(-1, numIter);
return false;
}
numIter++;
if (numIter > maxIter)
{
result.reportFailure(-2, numIter);
return false;
}
}
if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON)
return false;
result.m_fraction = lambda;
result.m_normal = n;
result.m_hitPoint = c;
@ -221,16 +239,5 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
return false;
/*
//todo:
//if movement away from normal, discard result
btVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
if (result.m_fraction < btScalar(1.))
{
if (move.dot(result.m_normal) <= btScalar(0.))
{
}
}
*/
}

15
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h vendored
View File

@ -14,13 +14,14 @@ subject to the following restrictions:
*/
#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H
#define CONTINUOUS_COLLISION_CONVEX_CAST_H
#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
#include "btConvexCast.h"
#include "btSimplexSolverInterface.h"
class btConvexPenetrationDepthSolver;
class btConvexShape;
class btStaticPlaneShape;
/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
@ -31,13 +32,18 @@ class btContinuousConvexCollision : public btConvexCast
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
const btConvexShape* m_convexA;
const btConvexShape* m_convexB;
//second object is either a convex or a plane (code sharing)
const btConvexShape* m_convexB1;
const btStaticPlaneShape* m_planeShape;
void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector);
public:
btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
btContinuousConvexCollision(const btConvexShape* shapeA,const btStaticPlaneShape* plane );
virtual bool calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
@ -48,5 +54,6 @@ public:
};
#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H

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