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enable convex separation util, potentially improves performance. set threshold to zero (docs follow)

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fix scaling issue with btConvexHullShape
use virtual getSupportingVertex on non-SPU platform
This commit is contained in:
erwin.coumans
2008-11-06 23:38:18 +00:00
parent c1fc609d74
commit a4c205afc0
13 changed files with 847 additions and 979 deletions
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198
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -14,7 +14,6 @@ subject to the following restrictions:
*/
#include "btConvexShape.h"
#include "btConvexInternalShape.h"
#include "btTriangleShape.h"
#include "btSphereShape.h"
#include "btCylinderShape.h"
@@ -22,7 +21,18 @@ subject to the following restrictions:
#include "btConvexHullShape.h"
#include "btConvexPointCloudShape.h"
static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints)
btConvexShape::btConvexShape ()
{
}
btConvexShape::~btConvexShape()
{
}
static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
@@ -41,7 +51,7 @@ static btVector3 convexHullSupport (const btVector3& localDir, const btVector3*
for (int i=0;i<numPoints;i++)
{
btVector3 vtx = points[i];// * m_localScaling;
btVector3 vtx = points[i] * localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -64,7 +74,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
break;
case BOX_SHAPE_PROXYTYPE:
{
btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
btBoxShape* convexShape = (btBoxShape*)this;
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
@@ -203,16 +213,16 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
{
btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
btVector3* points = convexPointCloudShape->getPoints ();
btVector3* points = convexPointCloudShape->getUnscaledPoints ();
int numPoints = convexPointCloudShape->getNumPoints ();
return convexHullSupport (localDir, points, numPoints);
return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
btVector3* points = convexHullShape->getPoints ();
btVector3* points = convexHullShape->getUnscaledPoints();
int numPoints = convexHullShape->getNumPoints ();
return convexHullSupport (localDir, points, numPoints);
return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
}
break;
default:
@@ -237,174 +247,8 @@ btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& local
localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
localDirNorm.normalize ();
switch (m_shapeType)
{
case SPHERE_SHAPE_PROXYTYPE:
{
return btVector3(0,0,0) + getMarginNonVirtual() * localDirNorm;
}
break;
case BOX_SHAPE_PROXYTYPE:
{
btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
return btVector3(localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z()) + getMarginNonVirtual() * localDirNorm;
}
break;
case TRIANGLE_SHAPE_PROXYTYPE:
{
btTriangleShape* triangleShape = (btTriangleShape*)this;
btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3* vertices = &triangleShape->m_vertices1[0];
btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
btVector3 sup = vertices[dots.maxAxis()];
return btVector3(sup.getX(),sup.getY(),sup.getZ()) + getMarginNonVirtual() * localDirNorm;
}
break;
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShape* cylShape = (btCylinderShape*)this;
//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
int cylinderUpAxis = cylShape->getUpAxis();
int XX(1),YY(0),ZZ(2);
switch (cylinderUpAxis)
{
case 0:
{
XX = 1;
YY = 0;
ZZ = 2;
}
break;
case 1:
{
XX = 0;
YY = 1;
ZZ = 2;
}
break;
case 2:
{
XX = 0;
YY = 2;
ZZ = 1;
}
break;
default:
btAssert(0);
break;
};
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()) + getMarginNonVirtual() * localDirNorm;
} else {
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()) + getMarginNonVirtual() * localDirNorm;
}
}
break;
case CAPSULE_SHAPE_PROXYTYPE:
{
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
btVector3 halfExtents = capsuleShape->getImplicitShapeDimensions();
btScalar halfHeight = capsuleShape->getHalfHeight();
int capsuleUpAxis = capsuleShape->getUpAxis();
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
btVector3 vtx;
btScalar newDot;
{
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = halfHeight;
vtx = pos +vec*(radius);
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
{
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = -halfHeight;
vtx = pos +vec*(radius);
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()) + getMarginNonVirtual() * localDirNorm;
}
break;
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
{
btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
btVector3* points = convexPointCloudShape->getPoints ();
int numPoints = convexPointCloudShape->getNumPoints ();
return convexHullSupport (localDir, points, numPoints) + getMarginNonVirtual() * localDirNorm;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
btVector3* points = convexHullShape->getPoints ();
int numPoints = convexHullShape->getNumPoints ();
return convexHullSupport (localDir, points, numPoints) + getMarginNonVirtual() * localDirNorm;
}
break;
default:
#ifndef __SPU__
return this->localGetSupportingVertex (localDir);
#else
btAssert (0);
#endif
break;
}
// should never reach here
btAssert (0);
return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
}
/* TODO: This should be bumped up to btCollisionShape () */
@@ -420,7 +264,7 @@ btScalar btConvexShape::getMarginNonVirtual () const
break;
case BOX_SHAPE_PROXYTYPE:
{
btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
btBoxShape* convexShape = (btBoxShape*)this;
return convexShape->getMarginNV ();
}
break;
@@ -483,7 +327,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
/* fall through */
case BOX_SHAPE_PROXYTYPE:
{
btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
btBoxShape* convexShape = (btBoxShape*)this;
float margin=convexShape->getMarginNonVirtual();
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
halfExtents += btVector3(margin,margin,margin);