aef97d6015
Make btTypedConstraint and btPersistentManifold both derive from btTypedObject to make SPU-side generic constraint solver easier. Note: all build systems need to be updated: remove SpuVoronoiSimplexSolver.cpp, SpuGjkPairDetector.cpp, SpuEpaPenetrationDepthSolver.cpp, SpuGjkEpa2.cpp
152 lines
3.8 KiB
C++
152 lines
3.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#include "btConvexInternalShape.h"
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btConvexInternalShape::btConvexInternalShape()
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: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
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m_collisionMargin(CONVEX_DISTANCE_MARGIN)
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{
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}
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void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling.absolute();
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}
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void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
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{
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#ifndef __SPU__
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//use localGetSupportingVertexWithoutMargin?
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btScalar margin = getMargin();
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for (int i=0;i<3;i++)
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{
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btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
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vec[i] = btScalar(1.);
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btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
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btVector3 tmp = trans(sv);
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maxAabb[i] = tmp[i]+margin;
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vec[i] = btScalar(-1.);
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tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
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minAabb[i] = tmp[i]-margin;
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}
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#endif
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}
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btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
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{
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#ifndef __SPU__
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btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
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if ( getMargin()!=btScalar(0.) )
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{
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btVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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}
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vecnorm.normalize();
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supVertex+= getMargin() * vecnorm;
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}
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return supVertex;
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#else
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btAssert(0);
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return btVector3(0,0,0);
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#endif //__SPU__
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}
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btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
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: btConvexInternalShape(),
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m_localAabbMin(1,1,1),
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m_localAabbMax(-1,-1,-1),
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m_isLocalAabbValid(false)
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{
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}
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void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
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{
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getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
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}
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void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
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{
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btConvexInternalShape::setLocalScaling(scaling);
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recalcLocalAabb();
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}
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void btConvexInternalAabbCachingShape::recalcLocalAabb()
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{
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m_isLocalAabbValid = true;
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#if 1
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static const btVector3 _directions[] =
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{
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btVector3( 1., 0., 0.),
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btVector3( 0., 1., 0.),
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btVector3( 0., 0., 1.),
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btVector3( -1., 0., 0.),
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btVector3( 0., -1., 0.),
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btVector3( 0., 0., -1.)
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};
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btVector3 _supporting[] =
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{
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.)
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};
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batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
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for ( int i = 0; i < 3; ++i )
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{
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m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
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m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
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}
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#else
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for (int i=0;i<3;i++)
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{
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btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
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vec[i] = btScalar(1.);
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btVector3 tmp = localGetSupportingVertex(vec);
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m_localAabbMax[i] = tmp[i]+m_collisionMargin;
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vec[i] = btScalar(-1.);
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tmp = localGetSupportingVertex(vec);
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m_localAabbMin[i] = tmp[i]-m_collisionMargin;
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}
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#endif
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}
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