Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -13,7 +13,7 @@ subject to the following restrictions:
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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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#if defined (_WIN32) || defined (__i386__)
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#if defined(_WIN32) || defined(__i386__)
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#define BT_USE_SSE_IN_API
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#endif
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@@ -27,30 +27,28 @@ subject to the following restrictions:
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#include "btConvexPointCloudShape.h"
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///not supported on IBM SDK, until we fix the alignment of btVector3
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#if defined (__CELLOS_LV2__) && defined (__SPU__)
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#if defined(__CELLOS_LV2__) && defined(__SPU__)
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#include <spu_intrinsics.h>
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static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
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static inline vec_float4 vec_dot3(vec_float4 vec0, vec_float4 vec1)
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{
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vec_float4 result;
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result = spu_mul( vec0, vec1 );
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result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
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return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
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vec_float4 result;
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result = spu_mul(vec0, vec1);
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result = spu_madd(spu_rlqwbyte(vec0, 4), spu_rlqwbyte(vec1, 4), result);
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return spu_madd(spu_rlqwbyte(vec0, 8), spu_rlqwbyte(vec1, 8), result);
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}
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#endif //__SPU__
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#endif //__SPU__
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btConvexShape::btConvexShape ()
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btConvexShape::btConvexShape()
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{
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}
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btConvexShape::~btConvexShape()
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{
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}
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void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const
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void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin, btVector3& witnesPtMax) const
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{
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btVector3 localAxis = dir*trans.getBasis();
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btVector3 localAxis = dir * trans.getBasis();
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btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
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btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
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@@ -58,8 +56,8 @@ void btConvexShape::project(const btTransform& trans, const btVector3& dir, btSc
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max = vtx2.dot(dir);
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witnesPtMax = vtx2;
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witnesPtMin = vtx1;
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if(min>max)
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if (min > max)
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{
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btScalar tmp = min;
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min = max;
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@@ -69,391 +67,392 @@ void btConvexShape::project(const btTransform& trans, const btVector3& dir, btSc
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}
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}
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static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
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{
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static btVector3 convexHullSupport(const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
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{
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btVector3 vec = localDirOrg * localScaling;
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#if defined (__CELLOS_LV2__) && defined (__SPU__)
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#if defined(__CELLOS_LV2__) && defined(__SPU__)
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btVector3 localDir = vec;
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vec_float4 v_distMax = {-FLT_MAX,0,0,0};
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vec_int4 v_idxMax = {-999,0,0,0};
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int v=0;
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vec_float4 v_distMax = {-FLT_MAX, 0, 0, 0};
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vec_int4 v_idxMax = {-999, 0, 0, 0};
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int v = 0;
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int numverts = numPoints;
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for(;v<(int)numverts-4;v+=4) {
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vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
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vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
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vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
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vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
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const vec_int4 i0 = {v ,0,0,0};
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const vec_int4 i1 = {v+1,0,0,0};
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const vec_int4 i2 = {v+2,0,0,0};
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const vec_int4 i3 = {v+3,0,0,0};
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vec_uint4 retGt01 = spu_cmpgt(p0,p1);
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vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
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vec_int4 imax01 = spu_sel(i1,i0,retGt01);
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vec_uint4 retGt23 = spu_cmpgt(p2,p3);
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vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
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vec_int4 imax23 = spu_sel(i3,i2,retGt23);
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vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
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vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
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vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
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vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
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v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
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v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
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for (; v < (int)numverts - 4; v += 4)
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{
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vec_float4 p0 = vec_dot3(points[v].get128(), localDir.get128());
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vec_float4 p1 = vec_dot3(points[v + 1].get128(), localDir.get128());
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vec_float4 p2 = vec_dot3(points[v + 2].get128(), localDir.get128());
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vec_float4 p3 = vec_dot3(points[v + 3].get128(), localDir.get128());
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const vec_int4 i0 = {v, 0, 0, 0};
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const vec_int4 i1 = {v + 1, 0, 0, 0};
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const vec_int4 i2 = {v + 2, 0, 0, 0};
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const vec_int4 i3 = {v + 3, 0, 0, 0};
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vec_uint4 retGt01 = spu_cmpgt(p0, p1);
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vec_float4 pmax01 = spu_sel(p1, p0, retGt01);
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vec_int4 imax01 = spu_sel(i1, i0, retGt01);
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vec_uint4 retGt23 = spu_cmpgt(p2, p3);
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vec_float4 pmax23 = spu_sel(p3, p2, retGt23);
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vec_int4 imax23 = spu_sel(i3, i2, retGt23);
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vec_uint4 retGt0123 = spu_cmpgt(pmax01, pmax23);
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vec_float4 pmax0123 = spu_sel(pmax23, pmax01, retGt0123);
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vec_int4 imax0123 = spu_sel(imax23, imax01, retGt0123);
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vec_uint4 retGtMax = spu_cmpgt(v_distMax, pmax0123);
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v_distMax = spu_sel(pmax0123, v_distMax, retGtMax);
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v_idxMax = spu_sel(imax0123, v_idxMax, retGtMax);
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}
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for(;v<(int)numverts;v++) {
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vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
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const vec_int4 i = {v,0,0,0};
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vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
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v_distMax = spu_sel(p,v_distMax,retGtMax);
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v_idxMax = spu_sel(i,v_idxMax,retGtMax);
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for (; v < (int)numverts; v++)
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{
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vec_float4 p = vec_dot3(points[v].get128(), localDir.get128());
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const vec_int4 i = {v, 0, 0, 0};
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vec_uint4 retGtMax = spu_cmpgt(v_distMax, p);
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v_distMax = spu_sel(p, v_distMax, retGtMax);
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v_idxMax = spu_sel(i, v_idxMax, retGtMax);
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}
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int ptIndex = spu_extract(v_idxMax,0);
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const btVector3& supVec= points[ptIndex] * localScaling;
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int ptIndex = spu_extract(v_idxMax, 0);
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const btVector3& supVec = points[ptIndex] * localScaling;
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return supVec;
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#else
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btScalar maxDot;
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long ptIndex = vec.maxDot( points, numPoints, maxDot);
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long ptIndex = vec.maxDot(points, numPoints, maxDot);
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btAssert(ptIndex >= 0);
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if (ptIndex<0)
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if (ptIndex < 0)
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{
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ptIndex = 0;
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}
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btVector3 supVec = points[ptIndex] * localScaling;
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return supVec;
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#endif //__SPU__
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#endif //__SPU__
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}
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btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
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btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual(const btVector3& localDir) const
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{
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switch (m_shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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return btVector3(0,0,0);
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* convexShape = (btBoxShape*)this;
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const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
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case SPHERE_SHAPE_PROXYTYPE:
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{
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return btVector3(0, 0, 0);
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* convexShape = (btBoxShape*)this;
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const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
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#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
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#if defined( BT_USE_SSE )
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return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
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#elif defined( BT_USE_NEON )
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return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
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#else
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#error unknown vector arch
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#endif
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#if defined(__APPLE__) && (defined(BT_USE_SSE) || defined(BT_USE_NEON))
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#if defined(BT_USE_SSE)
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return btVector3(_mm_xor_ps(_mm_and_ps(localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f}), halfExtents.mVec128));
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#elif defined(BT_USE_NEON)
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return btVector3((float32x4_t)(((uint32x4_t)localDir.mVec128 & (uint32x4_t){0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t)halfExtents.mVec128));
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#else
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return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
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#error unknown vector arch
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#endif
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btTriangleShape* triangleShape = (btTriangleShape*)this;
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btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
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btVector3* vertices = &triangleShape->m_vertices1[0];
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btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
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btVector3 sup = vertices[dots.maxAxis()];
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return btVector3(sup.getX(),sup.getY(),sup.getZ());
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShape* cylShape = (btCylinderShape*)this;
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//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
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btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
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btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
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int cylinderUpAxis = cylShape->getUpAxis();
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int XX(1),YY(0),ZZ(2);
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switch (cylinderUpAxis)
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{
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case 0:
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{
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XX = 1;
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YY = 0;
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ZZ = 2;
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}
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break;
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case 1:
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{
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XX = 0;
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YY = 1;
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ZZ = 2;
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}
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break;
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case 2:
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{
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XX = 0;
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YY = 2;
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ZZ = 1;
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}
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break;
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default:
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btAssert(0);
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break;
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};
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btScalar radius = halfExtents[XX];
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btScalar halfHeight = halfExtents[cylinderUpAxis];
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btVector3 tmp;
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btScalar d ;
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btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
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if (s != btScalar(0.0))
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{
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d = radius / s;
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tmp[XX] = v[XX] * d;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = v[ZZ] * d;
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return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
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} else {
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tmp[XX] = radius;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = btScalar(0.0);
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return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
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}
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
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btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
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btScalar halfHeight = capsuleShape->getHalfHeight();
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int capsuleUpAxis = capsuleShape->getUpAxis();
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btVector3 supVec(0,0,0);
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btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
|
||||
|
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < SIMD_EPSILON*SIMD_EPSILON)
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
|
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}
|
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btVector3 vtx;
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btScalar newDot;
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||||
{
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btVector3 pos(0,0,0);
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pos[capsuleUpAxis] = halfHeight;
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||||
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vtx = pos;
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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||||
supVec = vtx;
|
||||
}
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||||
}
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||||
{
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||||
btVector3 pos(0,0,0);
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pos[capsuleUpAxis] = -halfHeight;
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||||
|
||||
vtx = pos;
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
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||||
return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
|
||||
}
|
||||
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
|
||||
btVector3* points = convexPointCloudShape->getUnscaledPoints ();
|
||||
int numPoints = convexPointCloudShape->getNumPoints ();
|
||||
return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
|
||||
}
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
|
||||
btVector3* points = convexHullShape->getUnscaledPoints();
|
||||
int numPoints = convexHullShape->getNumPoints ();
|
||||
return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
|
||||
}
|
||||
default:
|
||||
#ifndef __SPU__
|
||||
return this->localGetSupportingVertexWithoutMargin (localDir);
|
||||
#else
|
||||
btAssert (0);
|
||||
return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
|
||||
btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
|
||||
btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
|
||||
#endif
|
||||
}
|
||||
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.dot3(vertices[0], vertices[1], vertices[2]);
|
||||
btVector3 sup = vertices[dots.maxAxis()];
|
||||
return btVector3(sup.getX(), sup.getY(), sup.getZ());
|
||||
}
|
||||
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());
|
||||
}
|
||||
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());
|
||||
}
|
||||
}
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btVector3 vec0(localDir.getX(), localDir.getY(), localDir.getZ());
|
||||
|
||||
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
|
||||
btScalar halfHeight = capsuleShape->getHalfHeight();
|
||||
int capsuleUpAxis = capsuleShape->getUpAxis();
|
||||
|
||||
btVector3 supVec(0, 0, 0);
|
||||
|
||||
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
|
||||
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < SIMD_EPSILON * SIMD_EPSILON)
|
||||
{
|
||||
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;
|
||||
newDot = vec.dot(vtx);
|
||||
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
{
|
||||
btVector3 pos(0, 0, 0);
|
||||
pos[capsuleUpAxis] = -halfHeight;
|
||||
|
||||
vtx = pos;
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
return btVector3(supVec.getX(), supVec.getY(), supVec.getZ());
|
||||
}
|
||||
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
|
||||
btVector3* points = convexPointCloudShape->getUnscaledPoints();
|
||||
int numPoints = convexPointCloudShape->getNumPoints();
|
||||
return convexHullSupport(localDir, points, numPoints, convexPointCloudShape->getLocalScalingNV());
|
||||
}
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
|
||||
btVector3* points = convexHullShape->getUnscaledPoints();
|
||||
int numPoints = convexHullShape->getNumPoints();
|
||||
return convexHullSupport(localDir, points, numPoints, convexHullShape->getLocalScalingNV());
|
||||
}
|
||||
default:
|
||||
#ifndef __SPU__
|
||||
return this->localGetSupportingVertexWithoutMargin(localDir);
|
||||
#else
|
||||
btAssert(0);
|
||||
#endif
|
||||
}
|
||||
|
||||
// should never reach here
|
||||
btAssert (0);
|
||||
return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
|
||||
btAssert(0);
|
||||
return btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
|
||||
}
|
||||
|
||||
btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
|
||||
btVector3 btConvexShape::localGetSupportVertexNonVirtual(const btVector3& localDir) const
|
||||
{
|
||||
btVector3 localDirNorm = localDir;
|
||||
if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
if (localDirNorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
|
||||
{
|
||||
localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
|
||||
localDirNorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
|
||||
}
|
||||
localDirNorm.normalize ();
|
||||
localDirNorm.normalize();
|
||||
|
||||
return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
|
||||
return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm) + getMarginNonVirtual() * localDirNorm;
|
||||
}
|
||||
|
||||
/* TODO: This should be bumped up to btCollisionShape () */
|
||||
btScalar btConvexShape::getMarginNonVirtual () const
|
||||
btScalar btConvexShape::getMarginNonVirtual() const
|
||||
{
|
||||
switch (m_shapeType)
|
||||
{
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btSphereShape* sphereShape = (btSphereShape*)this;
|
||||
return sphereShape->getRadius ();
|
||||
}
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btBoxShape* convexShape = (btBoxShape*)this;
|
||||
return convexShape->getMarginNV ();
|
||||
}
|
||||
case TRIANGLE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btTriangleShape* triangleShape = (btTriangleShape*)this;
|
||||
return triangleShape->getMarginNV ();
|
||||
}
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCylinderShape* cylShape = (btCylinderShape*)this;
|
||||
return cylShape->getMarginNV();
|
||||
}
|
||||
case CONE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btConeShape* conShape = (btConeShape*)this;
|
||||
return conShape->getMarginNV();
|
||||
}
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
|
||||
return capsuleShape->getMarginNV();
|
||||
}
|
||||
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
|
||||
/* fall through */
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
|
||||
return convexHullShape->getMarginNV();
|
||||
}
|
||||
default:
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btSphereShape* sphereShape = (btSphereShape*)this;
|
||||
return sphereShape->getRadius();
|
||||
}
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btBoxShape* convexShape = (btBoxShape*)this;
|
||||
return convexShape->getMarginNV();
|
||||
}
|
||||
case TRIANGLE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btTriangleShape* triangleShape = (btTriangleShape*)this;
|
||||
return triangleShape->getMarginNV();
|
||||
}
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCylinderShape* cylShape = (btCylinderShape*)this;
|
||||
return cylShape->getMarginNV();
|
||||
}
|
||||
case CONE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btConeShape* conShape = (btConeShape*)this;
|
||||
return conShape->getMarginNV();
|
||||
}
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
|
||||
return capsuleShape->getMarginNV();
|
||||
}
|
||||
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
|
||||
/* fall through */
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
|
||||
return convexHullShape->getMarginNV();
|
||||
}
|
||||
default:
|
||||
#ifndef __SPU__
|
||||
return this->getMargin ();
|
||||
return this->getMargin();
|
||||
#else
|
||||
btAssert (0);
|
||||
btAssert(0);
|
||||
#endif
|
||||
}
|
||||
|
||||
// should never reach here
|
||||
btAssert (0);
|
||||
btAssert(0);
|
||||
return btScalar(0.0f);
|
||||
}
|
||||
#ifndef __SPU__
|
||||
void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
|
||||
void btConvexShape::getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
|
||||
{
|
||||
switch (m_shapeType)
|
||||
{
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btSphereShape* sphereShape = (btSphereShape*)this;
|
||||
btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
|
||||
btScalar margin = radius + sphereShape->getMarginNonVirtual();
|
||||
const btVector3& center = t.getOrigin();
|
||||
btVector3 extent(margin,margin,margin);
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
break;
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
/* fall through */
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btBoxShape* convexShape = (btBoxShape*)this;
|
||||
btScalar margin=convexShape->getMarginNonVirtual();
|
||||
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
|
||||
halfExtents += btVector3(margin,margin,margin);
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
break;
|
||||
}
|
||||
case TRIANGLE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btTriangleShape* triangleShape = (btTriangleShape*)this;
|
||||
btScalar margin = triangleShape->getMarginNonVirtual();
|
||||
for (int i=0;i<3;i++)
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
vec[i] = btScalar(1.);
|
||||
btSphereShape* sphereShape = (btSphereShape*)this;
|
||||
btScalar radius = sphereShape->getImplicitShapeDimensions().getX(); // * convexShape->getLocalScaling().getX();
|
||||
btScalar margin = radius + sphereShape->getMarginNonVirtual();
|
||||
const btVector3& center = t.getOrigin();
|
||||
btVector3 extent(margin, margin, margin);
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
break;
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
/* fall through */
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btBoxShape* convexShape = (btBoxShape*)this;
|
||||
btScalar margin = convexShape->getMarginNonVirtual();
|
||||
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
|
||||
halfExtents += btVector3(margin, margin, margin);
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
|
||||
|
||||
btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
break;
|
||||
}
|
||||
case TRIANGLE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btTriangleShape* triangleShape = (btTriangleShape*)this;
|
||||
btScalar margin = triangleShape->getMarginNonVirtual();
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
vec[i] = btScalar(1.);
|
||||
|
||||
btVector3 tmp = t(sv);
|
||||
aabbMax[i] = tmp[i]+margin;
|
||||
vec[i] = btScalar(-1.);
|
||||
tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
|
||||
aabbMin[i] = tmp[i]-margin;
|
||||
}
|
||||
}
|
||||
break;
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
|
||||
btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
|
||||
int m_upAxis = capsuleShape->getUpAxis();
|
||||
halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
break;
|
||||
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
|
||||
btScalar margin = convexHullShape->getMarginNonVirtual();
|
||||
convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis());
|
||||
|
||||
btVector3 tmp = t(sv);
|
||||
aabbMax[i] = tmp[i] + margin;
|
||||
vec[i] = btScalar(-1.);
|
||||
tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis()));
|
||||
aabbMin[i] = tmp[i] - margin;
|
||||
}
|
||||
}
|
||||
break;
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
|
||||
btVector3 halfExtents(capsuleShape->getRadius(), capsuleShape->getRadius(), capsuleShape->getRadius());
|
||||
int m_upAxis = capsuleShape->getUpAxis();
|
||||
halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
break;
|
||||
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
|
||||
btScalar margin = convexHullShape->getMarginNonVirtual();
|
||||
convexHullShape->getNonvirtualAabb(t, aabbMin, aabbMax, margin);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
#ifndef __SPU__
|
||||
this->getAabb (t, aabbMin, aabbMax);
|
||||
this->getAabb(t, aabbMin, aabbMax);
|
||||
#else
|
||||
btAssert (0);
|
||||
btAssert(0);
|
||||
#endif
|
||||
break;
|
||||
break;
|
||||
}
|
||||
|
||||
// should never reach here
|
||||
btAssert (0);
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
#endif //__SPU__
|
||||
#endif //__SPU__
|
||||
|
||||
Reference in New Issue
Block a user