Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Code-style consistency improvement:

Browse Source 
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
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
Download Patch File Download Diff File Expand all files Collapse all files

298
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
View File

@@ -19,42 +19,37 @@ subject to the following restrictions:
#include "LinearMath/btQuaternion.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
btConvexTriangleMeshShape ::btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb)
: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
{
m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
if ( calcAabb )
if (calcAabb)
recalcLocalAabb();
}
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
///but then we are duplicating
class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
class LocalSupportVertexCallback : public btInternalTriangleIndexCallback
{
btVector3 m_supportVertexLocal;
public:
public:
btScalar m_maxDot;
btVector3 m_supportVecLocal;
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
m_maxDot(btScalar(-BT_LARGE_FLOAT)),
m_supportVecLocal(supportVecLocal)
: m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)),
m_maxDot(btScalar(-BT_LARGE_FLOAT)),
m_supportVecLocal(supportVecLocal)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{
(void)triangleIndex;
(void)partId;
for (int i=0;i<3;i++)
for (int i = 0; i < 3; i++)
{
btScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot)
@@ -64,99 +59,82 @@ public:
}
}
}
btVector3 GetSupportVertexLocal()
btVector3 GetSupportVertexLocal()
{
return m_supportVertexLocal;
}
};
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
vec.setValue(1, 0, 0);
}
else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
vec *= rlen;
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
///@todo: could do the batch inside the callback!
for (int j=0;j<numVectors;j++)
for (int j = 0; j < numVectors; j++)
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
}
btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
if (getMargin() != btScalar(0.))
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
supVertex += getMargin() * vecnorm;
}
return supVertex;
}
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
int btConvexTriangleMeshShape::getNumVertices() const
int btConvexTriangleMeshShape::getNumVertices() const
{
//cache this?
return 0;
}
int btConvexTriangleMeshShape::getNumEdges() const
@@ -164,43 +142,39 @@ int btConvexTriangleMeshShape::getNumEdges() const
return 0;
}
void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
{
btAssert(0);
}
void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
void btConvexTriangleMeshShape::getEdge(int, btVector3&, btVector3&) const
{
btAssert(0);
}
int btConvexTriangleMeshShape::getNumPlanes() const
void btConvexTriangleMeshShape::getVertex(int, btVector3&) const
{
btAssert(0);
}
int btConvexTriangleMeshShape::getNumPlanes() const
{
return 0;
}
void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const
void btConvexTriangleMeshShape::getPlane(btVector3&, btVector3&, int) const
{
btAssert(0);
}
//not yet
bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
bool btConvexTriangleMeshShape::isInside(const btVector3&, btScalar) const
{
btAssert(0);
return false;
}
void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
m_stridingMesh->setScaling(scaling);
recalcLocalAabb();
}
recalcLocalAabb();
}
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
{
@@ -209,107 +183,101 @@ const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
{
class CenterCallback: public btInternalTriangleIndexCallback
{
bool first;
btVector3 ref;
btVector3 sum;
btScalar volume;
class CenterCallback : public btInternalTriangleIndexCallback
{
bool first;
btVector3 ref;
btVector3 sum;
btScalar volume;
public:
public:
CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
{
}
CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{
(void)triangleIndex;
(void)partId;
if (first)
{
ref = triangle[0];
first = false;
}
else
{
btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
volume += vol;
}
}
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{
(void) triangleIndex;
(void) partId;
if (first)
{
ref = triangle[0];
first = false;
}
else
{
btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
volume += vol;
}
}
btVector3 getCenter()
{
return (volume > 0) ? sum / volume : ref;
}
btVector3 getCenter()
{
return (volume > 0) ? sum / volume : ref;
}
btScalar getVolume()
{
return volume * btScalar(1. / 6);
}
btScalar getVolume()
{
return volume * btScalar(1. / 6);
}
};
};
class InertiaCallback : public btInternalTriangleIndexCallback
{
btMatrix3x3 sum;
btVector3 center;
class InertiaCallback: public btInternalTriangleIndexCallback
{
btMatrix3x3 sum;
btVector3 center;
public:
InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
{
}
public:
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{
(void)triangleIndex;
(void)partId;
btMatrix3x3 i;
btVector3 a = triangle[0] - center;
btVector3 b = triangle[1] - center;
btVector3 c = triangle[2] - center;
btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
for (int j = 0; j < 3; j++)
{
for (int k = 0; k <= j; k++)
{
i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
}
}
btScalar i00 = -i[0][0];
btScalar i11 = -i[1][1];
btScalar i22 = -i[2][2];
i[0][0] = i11 + i22;
i[1][1] = i22 + i00;
i[2][2] = i00 + i11;
sum[0] += i[0];
sum[1] += i[1];
sum[2] += i[2];
}
InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
{
}
btMatrix3x3& getInertia()
{
return sum;
}
};
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{
(void) triangleIndex;
(void) partId;
btMatrix3x3 i;
btVector3 a = triangle[0] - center;
btVector3 b = triangle[1] - center;
btVector3 c = triangle[2] - center;
btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
for (int j = 0; j < 3; j++)
{
for (int k = 0; k <= j; k++)
{
i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
+ btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
}
}
btScalar i00 = -i[0][0];
btScalar i11 = -i[1][1];
btScalar i22 = -i[2][2];
i[0][0] = i11 + i22;
i[1][1] = i22 + i00;
i[2][2] = i00 + i11;
sum[0] += i[0];
sum[1] += i[1];
sum[2] += i[2];
}
btMatrix3x3& getInertia()
{
return sum;
}
CenterCallback centerCallback;
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
btVector3 center = centerCallback.getCenter();
principal.setOrigin(center);
volume = centerCallback.getVolume();
};
InertiaCallback inertiaCallback(center);
m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
CenterCallback centerCallback;
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
btVector3 center = centerCallback.getCenter();
principal.setOrigin(center);
volume = centerCallback.getVolume();
InertiaCallback inertiaCallback(center);
m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
btMatrix3x3& i = inertiaCallback.getInertia();
i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
inertia.setValue(i[0][0], i[1][1], i[2][2]);
inertia /= volume;
btMatrix3x3& i = inertiaCallback.getInertia();
i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
inertia.setValue(i[0][0], i[1][1], i[2][2]);
inertia /= volume;
}