119 lines
4.3 KiB
C++
119 lines
4.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "LinearMath/btSerializer.h"
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/*
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Make sure this dummy function never changes so that it
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can be used by probes that are checking whether the
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library is actually installed.
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*/
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extern "C"
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{
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void btBulletCollisionProbe();
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void btBulletCollisionProbe() {}
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}
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void btCollisionShape::getBoundingSphere(btVector3& center, btScalar& radius) const
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{
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btTransform tr;
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tr.setIdentity();
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btVector3 aabbMin, aabbMax;
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getAabb(tr, aabbMin, aabbMax);
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radius = (aabbMax - aabbMin).length() * btScalar(0.5);
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center = (aabbMin + aabbMax) * btScalar(0.5);
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}
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btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
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{
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return getAngularMotionDisc() * defaultContactThreshold;
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}
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btScalar btCollisionShape::getAngularMotionDisc() const
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{
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///@todo cache this value, to improve performance
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btVector3 center;
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btScalar disc;
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getBoundingSphere(center, disc);
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disc += (center).length();
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return disc;
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}
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void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans, const btVector3& linvel, const btVector3& angvel, btScalar timeStep, btVector3& temporalAabbMin, btVector3& temporalAabbMax) const
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{
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//start with static aabb
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getAabb(curTrans, temporalAabbMin, temporalAabbMax);
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btScalar temporalAabbMaxx = temporalAabbMax.getX();
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btScalar temporalAabbMaxy = temporalAabbMax.getY();
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btScalar temporalAabbMaxz = temporalAabbMax.getZ();
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btScalar temporalAabbMinx = temporalAabbMin.getX();
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btScalar temporalAabbMiny = temporalAabbMin.getY();
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btScalar temporalAabbMinz = temporalAabbMin.getZ();
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// add linear motion
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btVector3 linMotion = linvel * timeStep;
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///@todo: simd would have a vector max/min operation, instead of per-element access
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if (linMotion.x() > btScalar(0.))
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temporalAabbMaxx += linMotion.x();
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else
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temporalAabbMinx += linMotion.x();
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if (linMotion.y() > btScalar(0.))
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temporalAabbMaxy += linMotion.y();
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else
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temporalAabbMiny += linMotion.y();
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if (linMotion.z() > btScalar(0.))
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temporalAabbMaxz += linMotion.z();
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else
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temporalAabbMinz += linMotion.z();
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//add conservative angular motion
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btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
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btVector3 angularMotion3d(angularMotion, angularMotion, angularMotion);
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temporalAabbMin = btVector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
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temporalAabbMax = btVector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
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temporalAabbMin -= angularMotion3d;
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temporalAabbMax += angularMotion3d;
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btCollisionShapeData* shapeData = (btCollisionShapeData*)dataBuffer;
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char* name = (char*)serializer->findNameForPointer(this);
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shapeData->m_name = (char*)serializer->getUniquePointer(name);
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if (shapeData->m_name)
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{
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serializer->serializeName(name);
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}
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shapeData->m_shapeType = m_shapeType;
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// Fill padding with zeros to appease msan.
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memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
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return "btCollisionShapeData";
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}
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void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
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{
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int len = calculateSerializeBufferSize();
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btChunk* chunk = serializer->allocate(len, 1);
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const char* structType = serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk, structType, BT_SHAPE_CODE, (void*)this);
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} |