fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,195 +1,195 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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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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Experimental Buoyancy fluid demo written by John McCutchan
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*/
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#include <stdio.h>
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#include "LinearMath/btAabbUtil2.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
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#include "btHfFluidBuoyantConvexShape.h"
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btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
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{
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m_convexShape = convexShape;
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m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
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m_radius = btScalar(0.f);
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m_numVoxels = 0;
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m_voxelPositions = NULL;
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m_totalVolume = btScalar(0.0f);
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m_floatyness = btScalar(1.5f);
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}
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btHfFluidBuoyantConvexShape::~btHfFluidBuoyantConvexShape ()
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{
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if (m_voxelPositions)
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btAlignedFree (m_voxelPositions);
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}
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void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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return m_convexShape->getAabb (t, aabbMin, aabbMax);
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}
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void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
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{
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m_convexShape->setMargin (margin);
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}
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void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
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{
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m_convexShape->setLocalScaling (scaling);
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}
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const char* btHfFluidBuoyantConvexShape::getName() const
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{
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return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
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}
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const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
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{
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return m_convexShape->getLocalScaling();
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}
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void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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m_convexShape->calculateLocalInertia (mass, inertia);
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}
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btScalar btHfFluidBuoyantConvexShape::getMargin() const
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{
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return m_convexShape->getMargin();
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}
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//must be above the machine epsilon
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#define REL_ERROR2 btScalar(1.0e-6)
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static bool intersect(btVoronoiSimplexSolver* simplexSolver,
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const btTransform& transformA,
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const btTransform& transformB,
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btConvexShape* a,
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btConvexShape* b)
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{
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btScalar squaredDistance = SIMD_INFINITY;
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btTransform localTransA = transformA;
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btTransform localTransB = transformB;
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btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
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localTransA.getOrigin() -= positionOffset;
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localTransB.getOrigin() -= positionOffset;
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btScalar delta = btScalar(0.);
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btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
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simplexSolver->reset ();
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do
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{
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btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
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btVector3 seperatingAxisInB = v* transformB.getBasis();
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btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
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btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
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btVector3 pWorld = localTransA(pInA);
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btVector3 qWorld = localTransB(qInB);
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btVector3 w = pWorld - qWorld;
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delta = v.dot(w);
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// potential exit, they don't overlap
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if ((delta > btScalar(0.0)))
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{
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return false;
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}
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if (simplexSolver->inSimplex (w))
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{
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return false;
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}
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simplexSolver->addVertex (w, pWorld, qWorld);
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if (!simplexSolver->closest(v))
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{
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return false;
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}
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btScalar previousSquaredDistance = squaredDistance;
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squaredDistance = v.length2();
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if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
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{
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return false;
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}
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} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
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return true;
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}
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void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
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{
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btTransform T;
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T.setIdentity ();
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btVector3 aabbMin, aabbMax;
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getAabb (T, aabbMin, aabbMax);
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m_radius = radius;
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m_numVoxels = 0;
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btVoronoiSimplexSolver simplexSolver;
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btSphereShape sphereShape(radius);
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btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
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for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
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{
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for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
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{
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for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
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{
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btVector3 point;
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btTransform sT;
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sT.setIdentity ();
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point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
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point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
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point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
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if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
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{
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btTransform sT;
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sT.setIdentity ();
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sT.setOrigin (point);
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if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
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{
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voxelPositions[m_numVoxels] = point;
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m_numVoxels++;
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}
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}
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}
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}
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}
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m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
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for (int i = 0; i < m_numVoxels;i++)
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{
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m_voxelPositions[i] = voxelPositions[i];
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}
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btAlignedFree (voxelPositions);
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m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
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m_totalVolume = m_numVoxels * m_volumePerVoxel;
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m_radius = radius;
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}
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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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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Experimental Buoyancy fluid demo written by John McCutchan
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*/
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#include <stdio.h>
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#include "LinearMath/btAabbUtil2.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
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#include "btHfFluidBuoyantConvexShape.h"
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btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
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{
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m_convexShape = convexShape;
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m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
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m_radius = btScalar(0.f);
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m_numVoxels = 0;
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m_voxelPositions = NULL;
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m_totalVolume = btScalar(0.0f);
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m_floatyness = btScalar(1.5f);
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}
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btHfFluidBuoyantConvexShape::~btHfFluidBuoyantConvexShape ()
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{
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if (m_voxelPositions)
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btAlignedFree (m_voxelPositions);
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}
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void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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return m_convexShape->getAabb (t, aabbMin, aabbMax);
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}
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void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
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{
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m_convexShape->setMargin (margin);
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}
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void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
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{
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m_convexShape->setLocalScaling (scaling);
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}
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const char* btHfFluidBuoyantConvexShape::getName() const
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{
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return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
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}
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const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
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{
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return m_convexShape->getLocalScaling();
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}
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void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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m_convexShape->calculateLocalInertia (mass, inertia);
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}
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btScalar btHfFluidBuoyantConvexShape::getMargin() const
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{
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return m_convexShape->getMargin();
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}
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//must be above the machine epsilon
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#define REL_ERROR2 btScalar(1.0e-6)
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static bool intersect(btVoronoiSimplexSolver* simplexSolver,
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const btTransform& transformA,
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const btTransform& transformB,
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btConvexShape* a,
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btConvexShape* b)
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{
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btScalar squaredDistance = SIMD_INFINITY;
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btTransform localTransA = transformA;
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btTransform localTransB = transformB;
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btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
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localTransA.getOrigin() -= positionOffset;
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localTransB.getOrigin() -= positionOffset;
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btScalar delta = btScalar(0.);
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btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
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simplexSolver->reset ();
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do
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{
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btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
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btVector3 seperatingAxisInB = v* transformB.getBasis();
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btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
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btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
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btVector3 pWorld = localTransA(pInA);
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btVector3 qWorld = localTransB(qInB);
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btVector3 w = pWorld - qWorld;
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delta = v.dot(w);
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// potential exit, they don't overlap
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if ((delta > btScalar(0.0)))
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{
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return false;
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}
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if (simplexSolver->inSimplex (w))
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{
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return false;
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}
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simplexSolver->addVertex (w, pWorld, qWorld);
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if (!simplexSolver->closest(v))
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{
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return false;
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}
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btScalar previousSquaredDistance = squaredDistance;
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squaredDistance = v.length2();
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if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
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{
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return false;
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}
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} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
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return true;
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}
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void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
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{
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btTransform T;
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T.setIdentity ();
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btVector3 aabbMin, aabbMax;
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getAabb (T, aabbMin, aabbMax);
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m_radius = radius;
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m_numVoxels = 0;
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btVoronoiSimplexSolver simplexSolver;
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btSphereShape sphereShape(radius);
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btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
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for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
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{
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for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
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{
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for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
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{
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btVector3 point;
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btTransform sT;
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sT.setIdentity ();
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point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
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point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
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point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
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if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
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{
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btTransform sT;
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sT.setIdentity ();
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sT.setOrigin (point);
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if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
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{
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voxelPositions[m_numVoxels] = point;
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m_numVoxels++;
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}
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}
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}
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}
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}
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m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
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for (int i = 0; i < m_numVoxels;i++)
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{
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m_voxelPositions[i] = voxelPositions[i];
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}
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btAlignedFree (voxelPositions);
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m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
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m_totalVolume = m_numVoxels * m_volumePerVoxel;
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m_radius = radius;
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}
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