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more work on hashed pairmanager. growing doesn't work yet, so need to allocate enough room for the overlapping pairs in advance.

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boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver

added cone drawing (for X,Y,Z cones)
This commit is contained in:
ejcoumans
2007-10-12 02:52:28 +00:00
parent 1baa61bc8d
commit eff4fe8ec8
39 changed files with 1882 additions and 1336 deletions
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69
src/BulletCollision/CollisionShapes/btBoxShape.h
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@@ -31,25 +31,37 @@ class btBoxShape: public btPolyhedralConvexShape
public:
btVector3 getHalfExtents() const;
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return halfExtents;
}
const btVector3& getHalfExtentsWithoutMargin() const
{
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
}
virtual int getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btVector3 halfExtents = getHalfExtents();
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
virtual inline btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
btVector3 halfExtents = getHalfExtents();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents -= margin;
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
@@ -57,11 +69,8 @@ public:
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
btVector3 halfExtents = getHalfExtents();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents -= margin;
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
for (int i=0;i<numVectors;i++)
{
const btVector3& vec = vectors[i];
@@ -75,9 +84,33 @@ public:
btBoxShape( const btVector3& boxHalfExtents)
{
m_implicitShapeDimensions = boxHalfExtents;
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
};
virtual void setMargin(btScalar collisionMargin)
{
//correct the m_implicitShapeDimensions for the margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
}
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
@@ -112,7 +145,7 @@ public:
virtual void getVertex(int i,btVector3& vtx) const
{
btVector3 halfExtents = getHalfExtents();
btVector3 halfExtents = getHalfExtentsWithoutMargin();
vtx = btVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
@@ -123,7 +156,7 @@ public:
virtual void getPlaneEquation(btVector4& plane,int i) const
{
btVector3 halfExtents = getHalfExtents();
btVector3 halfExtents = getHalfExtentsWithoutMargin();
switch (i)
{
@@ -230,7 +263,7 @@ public:
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const
{
btVector3 halfExtents = getHalfExtents();
btVector3 halfExtents = getHalfExtentsWithoutMargin();
//btScalar minDist = 2*tolerance;