moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Bullet/CollisionShapes/CylinderShape.cpp
+++ b/Bullet/CollisionShapes/CylinderShape.cpp
@@ -0,0 +1,196 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#include "CylinderShape.h"
+#include "SimdPoint3.h"
+
+CylinderShape::CylinderShape (const SimdVector3& halfExtents)
+:BoxShape(halfExtents)
+{
+
+}
+
+
+CylinderShapeX::CylinderShapeX (const SimdVector3& halfExtents)
+:CylinderShape(halfExtents)
+{
+}
+
+
+CylinderShapeZ::CylinderShapeZ (const SimdVector3& halfExtents)
+:CylinderShape(halfExtents)
+{
+}
+
+
+
+inline SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v) 
+{
+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
+
+
+	float radius = halfExtents[XX];
+	float halfHeight = halfExtents[cylinderUpAxis];
+
+
+    SimdVector3 tmp;
+	SimdScalar d ;
+
+    SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != SimdScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = SimdScalar(0.0);
+		return tmp;
+    }
+
+
+}
+
+
+
+
+
+
+inline  SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v) 
+{
+
+const int cylinderUpAxis = 1;
+const int XX = 0;
+const int YY = 1;
+const int ZZ = 2;
+
+
+	float radius = halfExtents[XX];
+	float halfHeight = halfExtents[cylinderUpAxis];
+
+
+    SimdVector3 tmp;
+	SimdScalar d ;
+
+    SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != SimdScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = SimdScalar(0.0);
+		return tmp;
+    }
+
+}
+
+inline SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v) 
+{
+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
+
+
+	float radius = halfExtents[XX];
+	float halfHeight = halfExtents[cylinderUpAxis];
+
+
+    SimdVector3 tmp;
+	SimdScalar d ;
+
+    SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != SimdScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = SimdScalar(0.0);
+		return tmp;
+    }
+
+
+}
+
+SimdVector3	CylinderShapeX::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	return CylinderLocalSupportX(GetHalfExtents(),vec);
+}
+
+
+SimdVector3	CylinderShapeZ::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	return CylinderLocalSupportZ(GetHalfExtents(),vec);
+}
+SimdVector3	CylinderShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	return CylinderLocalSupportY(GetHalfExtents(),vec);
+}
+
+void	CylinderShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportY(GetHalfExtents(),vectors[i]);
+	}
+}
+
+void	CylinderShapeZ::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportZ(GetHalfExtents(),vectors[i]);
+	}
+}
+
+
+
+
+void	CylinderShapeX::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	for (int i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = CylinderLocalSupportX(GetHalfExtents(),vectors[i]);
+	}
+}
+
+