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

225
src/BulletCollision/CollisionShapes/btCylinderShape.cpp
View File

@@ -15,11 +15,11 @@ subject to the following restrictions:
#include "btCylinderShape.h"
btCylinderShape::btCylinderShape (const btVector3& halfExtents)
:btConvexInternalShape(),
m_upAxis(1)
btCylinderShape::btCylinderShape(const btVector3& halfExtents)
: btConvexInternalShape(),
m_upAxis(1)
{
btVector3 margin(getMargin(),getMargin(),getMargin());
btVector3 margin(getMargin(), getMargin(), getMargin());
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
setSafeMargin(halfExtents);
@@ -27,30 +27,25 @@ m_upAxis(1)
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
}
btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
btCylinderShapeX::btCylinderShapeX(const btVector3& halfExtents)
: btCylinderShape(halfExtents)
{
m_upAxis = 0;
}
btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
btCylinderShapeZ::btCylinderShapeZ(const btVector3& halfExtents)
: btCylinderShape(halfExtents)
{
m_upAxis = 2;
}
void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
void btCylinderShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
}
void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
void btCylinderShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{
//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
//#define USE_BOX_INERTIA_APPROXIMATION 1
#ifndef USE_BOX_INERTIA_APPROXIMATION
@@ -64,25 +59,25 @@ void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
*
*/
btScalar radius2; // square of cylinder radius
btScalar height2; // square of cylinder height
btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension
btScalar radius2; // square of cylinder radius
btScalar height2; // square of cylinder height
btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension
btScalar div12 = mass / 12.f;
btScalar div4 = mass / 4.f;
btScalar div2 = mass / 2.f;
int idxRadius, idxHeight;
switch (m_upAxis) // get indices of radius and height of cylinder
switch (m_upAxis) // get indices of radius and height of cylinder
{
case 0: // cylinder is aligned along x
case 0: // cylinder is aligned along x
idxRadius = 1;
idxHeight = 0;
break;
case 2: // cylinder is aligned along z
case 2: // cylinder is aligned along z
idxRadius = 0;
idxHeight = 2;
break;
default: // cylinder is aligned along y
default: // cylinder is aligned along y
idxRadius = 0;
idxHeight = 1;
}
@@ -95,188 +90,164 @@ void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
btScalar t1 = div12 * height2 + div4 * radius2;
btScalar t2 = div2 * radius2;
switch (m_upAxis) // set diagonal elements of inertia tensor
switch (m_upAxis) // set diagonal elements of inertia tensor
{
case 0: // cylinder is aligned along x
inertia.setValue(t2,t1,t1);
case 0: // cylinder is aligned along x
inertia.setValue(t2, t1, t1);
break;
case 2: // cylinder is aligned along z
inertia.setValue(t1,t1,t2);
case 2: // cylinder is aligned along z
inertia.setValue(t1, t1, t2);
break;
default: // cylinder is aligned along y
inertia.setValue(t1,t2,t1);
default: // cylinder is aligned along y
inertia.setValue(t1, t2, t1);
}
#else //USE_BOX_INERTIA_APPROXIMATION
#else //USE_BOX_INERTIA_APPROXIMATION
//approximation of box shape
btVector3 halfExtents = getHalfExtentsWithMargin();
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
btScalar lx = btScalar(2.) * (halfExtents.x());
btScalar ly = btScalar(2.) * (halfExtents.y());
btScalar lz = btScalar(2.) * (halfExtents.z());
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
#endif //USE_BOX_INERTIA_APPROXIMATION
inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
mass / (btScalar(12.0)) * (lx * lx + lz * lz),
mass / (btScalar(12.0)) * (lx * lx + ly * ly));
#endif //USE_BOX_INERTIA_APPROXIMATION
}
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v)
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents, const btVector3& v)
{
const int cylinderUpAxis = 0;
const int XX = 1;
const int YY = 0;
const int ZZ = 2;
const int cylinderUpAxis = 0;
const int XX = 1;
const int YY = 0;
const int ZZ = 2;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d;
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
else
{
tmp[XX] = radius;
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
}
inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v)
inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents, const btVector3& v)
{
const int cylinderUpAxis = 1;
const int XX = 0;
const int YY = 1;
const int ZZ = 2;
const int cylinderUpAxis = 1;
const int XX = 0;
const int YY = 1;
const int ZZ = 2;
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d;
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
else
{
tmp[XX] = radius;
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
}
inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v)
inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents, const btVector3& v)
{
const int cylinderUpAxis = 2;
const int XX = 0;
const int YY = 2;
const int ZZ = 1;
const int cylinderUpAxis = 2;
const int XX = 0;
const int YY = 2;
const int ZZ = 1;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d;
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
else
{
tmp[XX] = radius;
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
}
void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
for (int i=0;i<numVectors;i++)
return CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vec);
}
btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vec);
}
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
return CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vec);
}
void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(), vectors[i]);
}
}
void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
for (int i=0;i<numVectors;i++)
for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(), vectors[i]);
}
}
void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(), vectors[i]);
}
}