[Orxonox-commit 3599] r8284 - in code/branches/kicklib2: . cmake cmake/tools data/gui/scripts src src/external/bullet src/external/bullet/BulletCollision src/external/bullet/BulletCollision/BroadphaseCollision src/external/bullet/BulletCollision/CollisionDispatch src/external/bullet/BulletCollision/CollisionShapes src/external/bullet/BulletCollision/NarrowPhaseCollision src/external/bullet/BulletDynamics src/external/bullet/BulletDynamics/Character src/external/bullet/BulletDynamics/ConstraintSolver src/external/bullet/BulletDynamics/Dynamics src/external/bullet/BulletDynamics/Vehicle src/external/bullet/LinearMath src/external/ogreceguirenderer src/external/ois src/external/ois/linux src/external/ois/mac src/external/ois/win32 src/libraries/core src/libraries/core/command src/libraries/core/input src/libraries/network src/libraries/tools src/libraries/util src/modules/designtools src/modules/notifications src/modules/objects src/modules/overlays src/modules/pickup src/modules/pong src/modules/questsystem src/modules/questsystem/effects src/modules/weapons src/orxonox src/orxonox/sound
rgrieder at orxonox.net
rgrieder at orxonox.net
Thu Apr 21 18:58:25 CEST 2011
Author: rgrieder
Date: 2011-04-21 18:58:23 +0200 (Thu, 21 Apr 2011)
New Revision: 8284
Added:
code/branches/kicklib2/cmake/PackageConfigOSX.cmake
code/branches/kicklib2/cmake/tools/CheckPackageVersion.cmake
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.cpp
code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.h
code/branches/kicklib2/src/external/ois/OISMultiTouch.h
code/branches/kicklib2/src/external/ois/mac/MacJoyStick.cpp
code/branches/kicklib2/src/external/ois/mac/MacJoyStick.h
code/branches/kicklib2/src/orxonox-main.vcxproj.user.in
Removed:
code/branches/kicklib2/cmake/LibraryConfigApple.cmake
code/branches/kicklib2/src/external/bullet/BulletCollision/Gimpact/
Modified:
code/branches/kicklib2/
code/branches/kicklib2/CMakeLists.txt
code/branches/kicklib2/cmake/CompilerConfig.cmake
code/branches/kicklib2/cmake/CompilerConfigGCC.cmake
code/branches/kicklib2/cmake/CompilerConfigMSVC.cmake
code/branches/kicklib2/cmake/LibraryConfig.cmake
code/branches/kicklib2/cmake/PackageConfig.cmake
code/branches/kicklib2/cmake/PackageConfigMSVC.cmake
code/branches/kicklib2/cmake/PackageConfigMinGW.cmake
code/branches/kicklib2/cmake/tools/CheckOGREPlugins.cmake
code/branches/kicklib2/cmake/tools/FindALUT.cmake
code/branches/kicklib2/cmake/tools/FindCEGUI.cmake
code/branches/kicklib2/cmake/tools/FindOgg.cmake
code/branches/kicklib2/cmake/tools/FindPOCO.cmake
code/branches/kicklib2/cmake/tools/FindVorbis.cmake
code/branches/kicklib2/cmake/tools/GenerateToluaBindings.cmake
code/branches/kicklib2/cmake/tools/TargetUtilities.cmake
code/branches/kicklib2/data/gui/scripts/AudioMenu.lua
code/branches/kicklib2/src/CMakeLists.txt
code/branches/kicklib2/src/OrxonoxConfig.cmake
code/branches/kicklib2/src/OrxonoxConfig.h.in
code/branches/kicklib2/src/SpecialConfig.h.in
code/branches/kicklib2/src/external/bullet/Bullet-C-Api.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CMakeLists.txt
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btGhostObject.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMaterial.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/CMakeLists.txt
code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/Bullet-C-API.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btActionInterface.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h
code/branches/kicklib2/src/external/bullet/BulletLicense.txt
code/branches/kicklib2/src/external/bullet/CMakeLists.txt
code/branches/kicklib2/src/external/bullet/ChangeLog
code/branches/kicklib2/src/external/bullet/LinearMath/CMakeLists.txt
code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedAllocator.cpp
code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedObjectArray.h
code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.cpp
code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.h
code/branches/kicklib2/src/external/bullet/LinearMath/btDefaultMotionState.h
code/branches/kicklib2/src/external/bullet/LinearMath/btHashMap.h
code/branches/kicklib2/src/external/bullet/LinearMath/btIDebugDraw.h
code/branches/kicklib2/src/external/bullet/LinearMath/btMatrix3x3.h
code/branches/kicklib2/src/external/bullet/LinearMath/btMinMax.h
code/branches/kicklib2/src/external/bullet/LinearMath/btPoolAllocator.h
code/branches/kicklib2/src/external/bullet/LinearMath/btQuaternion.h
code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.cpp
code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.h
code/branches/kicklib2/src/external/bullet/LinearMath/btScalar.h
code/branches/kicklib2/src/external/bullet/LinearMath/btTransform.h
code/branches/kicklib2/src/external/bullet/LinearMath/btTransformUtil.h
code/branches/kicklib2/src/external/bullet/LinearMath/btVector3.h
code/branches/kicklib2/src/external/bullet/NEWS
code/branches/kicklib2/src/external/bullet/README
code/branches/kicklib2/src/external/bullet/VERSION
code/branches/kicklib2/src/external/bullet/btBulletCollisionCommon.h
code/branches/kicklib2/src/external/bullet/btBulletDynamicsCommon.h
code/branches/kicklib2/src/external/bullet/changes_orxonox.diff
code/branches/kicklib2/src/external/ogreceguirenderer/CMakeLists.txt
code/branches/kicklib2/src/external/ois/CMakeLists.txt
code/branches/kicklib2/src/external/ois/OIS.h
code/branches/kicklib2/src/external/ois/OISConfig.h
code/branches/kicklib2/src/external/ois/OISInputManager.cpp
code/branches/kicklib2/src/external/ois/OISKeyboard.h
code/branches/kicklib2/src/external/ois/OISPrereqs.h
code/branches/kicklib2/src/external/ois/ReadMe.txt
code/branches/kicklib2/src/external/ois/VERSION
code/branches/kicklib2/src/external/ois/changes_orxonox.diff
code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.cpp
code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.h
code/branches/kicklib2/src/external/ois/linux/LinuxJoyStickEvents.cpp
code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.cpp
code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.h
code/branches/kicklib2/src/external/ois/linux/LinuxMouse.cpp
code/branches/kicklib2/src/external/ois/linux/LinuxPrereqs.h
code/branches/kicklib2/src/external/ois/mac/CMakeLists.txt
code/branches/kicklib2/src/external/ois/mac/MacHIDManager.cpp
code/branches/kicklib2/src/external/ois/mac/MacHIDManager.h
code/branches/kicklib2/src/external/ois/mac/MacInputManager.cpp
code/branches/kicklib2/src/external/ois/mac/MacKeyboard.cpp
code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.cpp
code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.h
code/branches/kicklib2/src/external/ois/win32/Win32InputManager.cpp
code/branches/kicklib2/src/external/ois/win32/Win32InputManager.h
code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.cpp
code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.h
code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.cpp
code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.h
code/branches/kicklib2/src/external/ois/win32/Win32Mouse.cpp
code/branches/kicklib2/src/external/ois/win32/Win32Mouse.h
code/branches/kicklib2/src/external/ois/win32/Win32Prereqs.h
code/branches/kicklib2/src/libraries/core/Core.cc
code/branches/kicklib2/src/libraries/core/CorePrereqs.h
code/branches/kicklib2/src/libraries/core/DynLib.cc
code/branches/kicklib2/src/libraries/core/DynLib.h
code/branches/kicklib2/src/libraries/core/GUIManager.cc
code/branches/kicklib2/src/libraries/core/Game.cc
code/branches/kicklib2/src/libraries/core/GraphicsManager.cc
code/branches/kicklib2/src/libraries/core/Identifier.h
code/branches/kicklib2/src/libraries/core/OrxonoxClass.h
code/branches/kicklib2/src/libraries/core/PathConfig.cc
code/branches/kicklib2/src/libraries/core/Resource.cc
code/branches/kicklib2/src/libraries/core/Resource.h
code/branches/kicklib2/src/libraries/core/Super.h
code/branches/kicklib2/src/libraries/core/command/ArgumentCompletionFunctions.cc
code/branches/kicklib2/src/libraries/core/input/InputDevice.h
code/branches/kicklib2/src/libraries/core/input/InputManager.cc
code/branches/kicklib2/src/libraries/core/input/InputState.h
code/branches/kicklib2/src/libraries/network/LANDiscoverable.cc
code/branches/kicklib2/src/libraries/network/MasterServerComm.cc
code/branches/kicklib2/src/libraries/network/NetworkPrereqs.h
code/branches/kicklib2/src/libraries/tools/BulletConversions.h
code/branches/kicklib2/src/libraries/tools/ResourceCollection.cc
code/branches/kicklib2/src/libraries/tools/ToolsPrereqs.h
code/branches/kicklib2/src/libraries/util/Convert.h
code/branches/kicklib2/src/libraries/util/MathConvert.h
code/branches/kicklib2/src/libraries/util/SharedPtr.h
code/branches/kicklib2/src/libraries/util/SignalHandler.h
code/branches/kicklib2/src/libraries/util/UtilPrereqs.h
code/branches/kicklib2/src/modules/designtools/DesignToolsPrereqs.h
code/branches/kicklib2/src/modules/designtools/ScreenshotManager.cc
code/branches/kicklib2/src/modules/notifications/NotificationsPrereqs.h
code/branches/kicklib2/src/modules/objects/ObjectsPrereqs.h
code/branches/kicklib2/src/modules/overlays/OverlaysPrereqs.h
code/branches/kicklib2/src/modules/pickup/PickupPrereqs.h
code/branches/kicklib2/src/modules/pong/PongPrereqs.h
code/branches/kicklib2/src/modules/questsystem/QuestEffect.cc
code/branches/kicklib2/src/modules/questsystem/QuestEffectBeacon.cc
code/branches/kicklib2/src/modules/questsystem/QuestsystemPrereqs.h
code/branches/kicklib2/src/modules/questsystem/effects/AddReward.cc
code/branches/kicklib2/src/modules/weapons/WeaponsPrereqs.h
code/branches/kicklib2/src/orxonox/MoodManager.cc
code/branches/kicklib2/src/orxonox/OrxonoxPrereqs.h
code/branches/kicklib2/src/orxonox/sound/AmbientSound.cc
code/branches/kicklib2/src/orxonox/sound/SoundBuffer.cc
code/branches/kicklib2/src/orxonox/sound/SoundManager.cc
code/branches/kicklib2/src/orxonox/sound/WorldSound.cc
Log:
Merged revisions 7978 - 8096 from kicklib to kicklib2.
Property changes on: code/branches/kicklib2
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/ai:6592-7033
/code/branches/buildsystem:1874-2276,2278-2400
/code/branches/buildsystem2:2506-2658
/code/branches/buildsystem3:2662-2708
/code/branches/ceguilua:1802-1808
/code/branches/chat:6527-6797
/code/branches/chat2:6836-6910
/code/branches/console:5941-6104
/code/branches/consolecommands2:6451-7178
/code/branches/consolecommands3:7178-7283
/code/branches/core3:1572-1739
/code/branches/core4:3221-3224,3227,3234-3238,3242,3244-3250,3252-3254,3256,3259-3261,3264-3265,3268-3275,3277-3278,3280,3284-3285,3287,3289-3294,3305,3309-3310
/code/branches/core5:5768-5928,6009
/code/branches/data_cleanup:7537-7686
/code/branches/doc:7290-7400
/code/branches/dynamicmatch:6584-7030
/code/branches/fps:6591-7072
/code/branches/gamestate:6430-6572,6621-6661
/code/branches/gamestates2:6594-6745
/code/branches/gametypes:2826-3031
/code/branches/gcc43:1580
/code/branches/gui:1635-1723,2795-2894
/code/branches/hudelements:6584-6941
/code/branches/ingamemenu:6000-6023
/code/branches/input:1629-1636
/code/branches/ipv6:7293-7458
/code/branches/kicklib:7940-7977
/code/branches/lastmanstanding:7479-7644
/code/branches/lastmanstanding3:7903-8175
/code/branches/libraries:5612-5692
/code/branches/libraries2:5703-5737
/code/branches/lod:6586-6911
/code/branches/lodfinal:2372-2411
/code/branches/map:2801-3086,3089
/code/branches/masterserver:7502-7738
/code/branches/menu:5941-6146,6148,7536-7687
/code/branches/miniprojects:2754-2824
/code/branches/netp2:2835-2988
/code/branches/netp3:2988-3082
/code/branches/netp6:3214-3302
/code/branches/network:2356
/code/branches/network2:6434-6465
/code/branches/network3:7196-7344
/code/branches/network4:7497-7755
/code/branches/network5:7757-7781
/code/branches/network64:2210-2355
/code/branches/notifications:7314-7401
/code/branches/objecthierarchy:1911-2085,2100,2110-2169
/code/branches/objecthierarchy2:2171-2479
/code/branches/overlay:2117-2385
/code/branches/particles:2829-3085
/code/branches/particles2:6050-6106,6109
/code/branches/pch:3113-3194
/code/branches/physics:1912-2055,2107-2439
/code/branches/physics_merge:2436-2457
/code/branches/pickup2:5942-6405
/code/branches/pickup3:6418-6523
/code/branches/pickup4:6594-6710
/code/branches/pickups:1926-2086,2127,2827-2915
/code/branches/pickups2:2107-2497,2915-3071
/code/branches/png2:7262-7263
/code/branches/ppspickups1:6552-6708
/code/branches/ppspickups2:6527-6532,6554-6709
/code/branches/ppspickups3:6757-6997
/code/branches/ppspickups4:7003-7089
/code/branches/presentation:2369-2652,2654-2660,7736-7786
/code/branches/presentation2:6106-6416,7787-7800
/code/branches/presentation3:6913-7162
/code/branches/questsystem:1894-2088
/code/branches/questsystem2:2107-2259
/code/branches/questsystem5:2776-2905
/code/branches/releasetodo:7614-7647
/code/branches/resource:3327-3366
/code/branches/resource2:3372-5694
/code/branches/rocket:6523-6950
/code/branches/rocket2:6953-6970
/code/branches/script_trigger:1295-1953,1955
/code/branches/skybox2:6559-6989
/code/branches/sound:2829-3010
/code/branches/sound3:5941-6102
/code/branches/steering:5949-6091
/code/branches/tetris:8100-8107
/code/branches/usability:7915-8078
/code/branches/weapon:1925-2094
/code/branches/weapon2:2107-2488
/code/branches/weapons:2897-3051
/code/branches/weaponsystem:2742-2890
+ /code/branches/ai:6592-7033
/code/branches/buildsystem:1874-2276,2278-2400
/code/branches/buildsystem2:2506-2658
/code/branches/buildsystem3:2662-2708
/code/branches/ceguilua:1802-1808
/code/branches/chat:6527-6797
/code/branches/chat2:6836-6910
/code/branches/console:5941-6104
/code/branches/consolecommands2:6451-7178
/code/branches/consolecommands3:7178-7283
/code/branches/core3:1572-1739
/code/branches/core4:3221-3224,3227,3234-3238,3242,3244-3250,3252-3254,3256,3259-3261,3264-3265,3268-3275,3277-3278,3280,3284-3285,3287,3289-3294,3305,3309-3310
/code/branches/core5:5768-5928,6009
/code/branches/data_cleanup:7537-7686
/code/branches/doc:7290-7400
/code/branches/dynamicmatch:6584-7030
/code/branches/fps:6591-7072
/code/branches/gamestate:6430-6572,6621-6661
/code/branches/gamestates2:6594-6745
/code/branches/gametypes:2826-3031
/code/branches/gcc43:1580
/code/branches/gui:1635-1723,2795-2894
/code/branches/hudelements:6584-6941
/code/branches/ingamemenu:6000-6023
/code/branches/input:1629-1636
/code/branches/ipv6:7293-7458
/code/branches/kicklib:7940-8096
/code/branches/lastmanstanding:7479-7644
/code/branches/lastmanstanding3:7903-8175
/code/branches/libraries:5612-5692
/code/branches/libraries2:5703-5737
/code/branches/lod:6586-6911
/code/branches/lodfinal:2372-2411
/code/branches/mac_osx:7789-8072
/code/branches/map:2801-3086,3089
/code/branches/masterserver:7502-7738
/code/branches/menu:5941-6146,6148,7536-7687
/code/branches/miniprojects:2754-2824
/code/branches/netp2:2835-2988
/code/branches/netp3:2988-3082
/code/branches/netp6:3214-3302
/code/branches/network:2356
/code/branches/network2:6434-6465
/code/branches/network3:7196-7344
/code/branches/network4:7497-7755
/code/branches/network5:7757-7781
/code/branches/network64:2210-2355
/code/branches/notifications:7314-7401
/code/branches/objecthierarchy:1911-2085,2100,2110-2169
/code/branches/objecthierarchy2:2171-2479
/code/branches/ois_update:7506-7788
/code/branches/overlay:2117-2385
/code/branches/particles:2829-3085
/code/branches/particles2:6050-6106,6109
/code/branches/pch:3113-3194
/code/branches/physics:1912-2055,2107-2439
/code/branches/physics_merge:2436-2457
/code/branches/pickup2:5942-6405
/code/branches/pickup3:6418-6523
/code/branches/pickup4:6594-6710
/code/branches/pickups:1926-2086,2127,2827-2915
/code/branches/pickups2:2107-2497,2915-3071
/code/branches/png2:7262-7263
/code/branches/ppspickups1:6552-6708
/code/branches/ppspickups2:6527-6532,6554-6709
/code/branches/ppspickups3:6757-6997
/code/branches/ppspickups4:7003-7089
/code/branches/presentation:2369-2652,2654-2660,7736-7786
/code/branches/presentation2:6106-6416,7787-7800
/code/branches/presentation3:6913-7162
/code/branches/questsystem:1894-2088
/code/branches/questsystem2:2107-2259
/code/branches/questsystem5:2776-2905
/code/branches/releasetodo:7614-7647
/code/branches/resource:3327-3366
/code/branches/resource2:3372-5694
/code/branches/rocket:6523-6950
/code/branches/rocket2:6953-6970
/code/branches/script_trigger:1295-1953,1955
/code/branches/skybox2:6559-6989
/code/branches/sound:2829-3010
/code/branches/sound3:5941-6102
/code/branches/steering:5949-6091
/code/branches/tetris:8100-8107
/code/branches/usability:7915-8078
/code/branches/weapon:1925-2094
/code/branches/weapon2:2107-2488
/code/branches/weapons:2897-3051
/code/branches/weaponsystem:2742-2890
Modified: code/branches/kicklib2/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -100,14 +100,31 @@
# Enable expensive optimisations: use this for a binary release build
OPTION(ORXONOX_RELEASE "Enable when building restributable releases" FALSE)
+IF(APPLE)
+ # Set 10.5 as the base SDK by default
+ SET(XCODE_ATTRIBUTE_SDKROOT macosx10.5)
+
+ # 10.6 sets x86_64 as the default architecture.
+ # Because Carbon isn't supported on 64-bit and we still need it, force the architectures to ppc and i386
+ IF(CMAKE_OSX_ARCHITECTURES MATCHES "x86_64")
+ SET(CMAKE_OSX_ARCHITECTURES "i386")
+ ENDIF()
+ IF(CMAKE_OSX_ARCHITECTURES MATCHES "ppc64")
+ SET(CMAKE_OSX_ARCHITECTURES "ppc")
+ ENDIF()
+ IF(NOT CMAKE_OSX_ARCHITECTURES)
+ SET(CMAKE_OSX_ARCHITECTURES "i386")
+ ENDIF()
+ENDIF()
+
########### Subfolders and Subscripts ###########
+# General build and compiler options and configurations
+INCLUDE(CompilerConfig)
+
# Library finding
INCLUDE(LibraryConfig)
-# General build and compiler options and configurations
-INCLUDE(CompilerConfig)
-
# Configure installation paths and options
INCLUDE(InstallConfig)
Modified: code/branches/kicklib2/cmake/CompilerConfig.cmake
===================================================================
--- code/branches/kicklib2/cmake/CompilerConfig.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/CompilerConfig.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -33,12 +33,3 @@
ELSE()
MESSAGE(STATUS "Warning: Your compiler is not officially supported.")
ENDIF()
-
-SET(COMPILER_CONFIG_USER_SCRIPT "" CACHE FILEPATH
- "Specify a CMake script if you wish to write your own compiler config.
- See CompilerConfigGCC.cmake or CompilerConfigMSVC.cmake for examples.")
-IF(COMPILER_CONFIG_USER_SCRIPT)
- IF(EXISTS ${CMAKE_MODULE_PATH}/${COMPILER_CONFIG_USER_SCRIPT})
- INCLUDE(${CMAKE_MODULE_PATH}/${COMPILER_CONFIG_USER_SCRIPT})
- ENDIF()
-ENDIF(COMPILER_CONFIG_USER_SCRIPT)
Modified: code/branches/kicklib2/cmake/CompilerConfigGCC.cmake
===================================================================
--- code/branches/kicklib2/cmake/CompilerConfigGCC.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/CompilerConfigGCC.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -25,6 +25,7 @@
INCLUDE(FlagUtilities)
INCLUDE(CompareVersionStrings)
+INCLUDE(CheckCXXCompilerFlag)
# Shortcut for CMAKE_COMPILER_IS_GNUCXX and ..._GNUC
SET(CMAKE_COMPILER_IS_GNU TRUE)
@@ -36,14 +37,6 @@
OUTPUT_VARIABLE GCC_VERSION
)
-# Complain about incompatibilities
-COMPARE_VERSION_STRINGS("${GCC_VERSION}" "4.4.0" _compare_result)
-IF(NOT _compare_result LESS 0)
- IF(${Boost_VERSION} LESS 103700)
- MESSAGE(STATUS "Warning: Boost versions earlier than 1.37 may not compile with GCC 4.4 or later!")
- ENDIF()
-ENDIF()
-
# GCC may not support #pragma GCC system_header correctly when using
# templates. According to Bugzilla, it was fixed March 07 but tests
# have confirmed that GCC 4.0.0 does not pose a problem for our cases.
@@ -71,10 +64,29 @@
ADD_COMPILER_FLAGS("-Os" MinSizeRel CACHE)
# CMake doesn't seem to set the PIC flags right on certain 64 bit systems
-IF(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+IF(NOT MINGW AND ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
ADD_COMPILER_FLAGS("-fPIC" CACHE)
ENDIF()
+# Use SSE if possible
+# Commented because this might not work for cross compiling
+#CHECK_CXX_COMPILER_FLAG(-msse _gcc_have_sse)
+#IF(_gcc_have_sse)
+# ADD_COMPILER_FLAGS("-msse" CACHE)
+#ENDIF()
+
+IF(NOT MINGW)
+ # Have GCC visibility?
+ CHECK_CXX_COMPILER_FLAG("-fvisibility=hidden" _gcc_have_visibility)
+ IF(_gcc_have_visibility)
+ # Note: There is a possible bug with the flag in gcc < 4.2 and Debug versions
+ COMPARE_VERSION_STRINGS("${GCC_VERSION}" "4.2.0" _compare_result)
+ IF(NOT CMAKE_BUILD_TYPE STREQUAL "Debug" OR _compare_result GREATER -1)
+ ADD_COMPILER_FLAGS("-DORXONOX_GCC_VISIBILITY -fvisibility=default -fvisibility-inlines-hidden" CACHE)
+ ENDIF()
+ ENDIF(_gcc_have_visibility)
+ENDIF()
+
# We have some unconformant code, disable an optimisation feature
ADD_COMPILER_FLAGS("-fno-strict-aliasing" CACHE)
Modified: code/branches/kicklib2/cmake/CompilerConfigMSVC.cmake
===================================================================
--- code/branches/kicklib2/cmake/CompilerConfigMSVC.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/CompilerConfigMSVC.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -59,12 +59,23 @@
ADD_COMPILER_FLAGS("-D_SCL_SECURE_NO_WARNINGS" CACHE)
# Overwrite CMake default flags here for the individual configurations
-SET_COMPILER_FLAGS("-MDd -Od -Zi -D_DEBUG -RTC1" Debug CACHE)
-SET_COMPILER_FLAGS("-MD -O2 -DNDEBUG" Release CACHE)
-SET_COMPILER_FLAGS("-MD -O2 -Zi -DNDEBUG" RelWithDebInfo CACHE)
-SET_COMPILER_FLAGS("-MD -O1 -DNDEBUG" MinSizeRel CACHE)
-ADD_COMPILER_FLAGS("-D_SECURE_SCL=0" MSVC9 ReleaseAll CACHE)
+SET_COMPILER_FLAGS("-MDd -Od -Oi -Zi -D_DEBUG -RTC1" Debug CACHE)
+SET_COMPILER_FLAGS("-MD -O2 -DNDEBUG" Release CACHE)
+SET_COMPILER_FLAGS("-MD -O2 -Zi -DNDEBUG" RelWithDebInfo CACHE)
+SET_COMPILER_FLAGS("-MD -O1 -DNDEBUG" MinSizeRel CACHE)
+# Enable non standard floating point optimisations
+# Note: It hasn't been checked yet whether we have code that might break
+#ADD_COMPILER_FLAGS("-fp:fast" CACHE)
+
+# No iterator checking for release builds (MSVC 8 dosn't understand this though)
+ADD_COMPILER_FLAGS("-D_SECURE_SCL=0" ReleaseAll CACHE)
+
+# Newer MSVC versions come with std::shared_ptr which conflicts with
+# boost::shared_ptr in cpptcl. And since we don't yet use the new C++ standard
+# anyway, disable it completely.
+ADD_COMPILER_FLAGS("-D_HAS_CPP0X=0" CACHE)
+
# Use Link time code generation for Release config if ORXONOX_RELEASE is defined
IF(ORXONOX_RELEASE)
ADD_COMPILER_FLAGS("-GL" ReleaseAll CACHE)
Modified: code/branches/kicklib2/cmake/LibraryConfig.cmake
===================================================================
--- code/branches/kicklib2/cmake/LibraryConfig.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/LibraryConfig.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -39,15 +39,14 @@
# On Windows using a package causes way less problems
SET(_option_msg "Set this to true to use precompiled dependecy archives")
-IF(WIN32)
+IF(WIN32 OR APPLE)
OPTION(DEPENDENCY_PACKAGE_ENABLE "${_option_msg}" ON)
-ELSE(WIN32)
+ELSE()
OPTION(DEPENDENCY_PACKAGE_ENABLE "${_option_msg}" FALSE)
-ENDIF(WIN32)
+ENDIF()
# Scripts for specific library and CMake config
INCLUDE(LibraryConfigTardis)
-INCLUDE(LibraryConfigApple)
IF(DEPENDENCY_PACKAGE_ENABLE)
GET_FILENAME_COMPONENT(_dep_dir_1 ${CMAKE_SOURCE_DIR}/../dependencies ABSOLUTE)
@@ -58,6 +57,8 @@
SET(_compiler_prefix msvc8)
ELSEIF(MSVC90)
SET(_compiler_prefix msvc9)
+ ELSEIF(MSVC100)
+ SET(_compiler_prefix msvc10)
ENDIF()
FIND_PATH(DEPENDENCY_PACKAGE_DIR
NAMES version.txt
@@ -72,9 +73,13 @@
MESSAGE(STATUS "Warning: Could not find dependency directory."
"Disable LIBRARY_USE_PACKAGE if you have none intalled.")
ELSE()
- INCLUDE(PackageConfigMinGW)
- INCLUDE(PackageConfigMSVC)
- INCLUDE(PackageConfig) # For both msvc and mingw
+ IF(WIN32)
+ INCLUDE(PackageConfigMinGW)
+ INCLUDE(PackageConfigMSVC)
+ INCLUDE(PackageConfig) # For both msvc and mingw
+ ELSEIF(APPLE)
+ INCLUDE(PackageConfigOSX)
+ ENDIF(WIN32)
ENDIF()
ENDIF(DEPENDENCY_PACKAGE_ENABLE)
@@ -140,14 +145,24 @@
FIND_PACKAGE_HANDLE_STANDARD_ARGS(TCL DEFAULT_MSG TCL_LIBRARY TCL_INCLUDE_PATH)
##### Boost #####
-# Expand the next statement if newer boost versions than 1.36.1 are released
+# Expand the next statement if newer boost versions are released
SET(Boost_ADDITIONAL_VERSIONS 1.37 1.37.0 1.38 1.38.0 1.39 1.39.0 1.40 1.40.0
- 1.41 1.41.0 1.42 1.42.0 1.43 1.43.0 1.44 1.44.0)
+ 1.41 1.41.0 1.42 1.42.0 1.43 1.43.0 1.44 1.44.0
+ 1.45 1.45.0 1.46 1.46.0 1.46.1)
IF( NOT TARDIS )
FIND_PACKAGE(Boost 1.35 REQUIRED thread filesystem system date_time)
ENDIF()
# No auto linking, so this option is useless anyway
MARK_AS_ADVANCED(Boost_LIB_DIAGNOSTIC_DEFINITIONS)
+# Complain about incompatibilities
+IF(GCC_VERSION)
+ COMPARE_VERSION_STRINGS("${GCC_VERSION}" "4.4.0" _compare_result)
+ IF(NOT _compare_result LESS 0)
+ IF(${Boost_VERSION} LESS 103700)
+ MESSAGE(STATUS "Warning: Boost versions earlier than 1.37 may not compile with GCC 4.4 or later!")
+ ENDIF()
+ ENDIF()
+ENDIF()
####### Static/Dynamic linking options ##########
Deleted: code/branches/kicklib2/cmake/LibraryConfigApple.cmake
===================================================================
--- code/branches/kicklib2/cmake/LibraryConfigApple.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/LibraryConfigApple.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,43 +0,0 @@
- #
- # ORXONOX - the hottest 3D action shooter ever to exist
- # > www.orxonox.net <
- #
- # This program is free software; you can redistribute it and/or
- # modify it under the terms of the GNU General Public License
- # as published by the Free Software Foundation; either version 2
- # of the License, or (at your option) any later version.
- #
- # This program is distributed in the hope that it will be useful,
- # but WITHOUT ANY WARRANTY; without even the implied warranty of
- # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- # GNU General Public License for more details.
- #
- # You should have received a copy of the GNU General Public License along
- # with this program; if not, write to the Free Software Foundation,
- # Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- #
- #
- # Author:
- # Yuning Chai
- # Description:
- # Sets necessary library options and paths on Mac.
- #
-
-IF(APPLE)
- MESSAGE(STATUS "Running on Apple. Using customized paths and options.")
-
- SET(ENV{OGRE_HOME} "/Developer/SDKs/OgreSDK/Dependencies")
- SET(ENV{CEGUIDIR} "/Developer/SDKs/OgreSDK/Dependencies")
-
- #MESSAGE(STATUS $ENV{OGRE_HOME})
-
- SET(CMAKE_FIND_FRAMEWORK "FIRST")
-
-# SET(OGRE_LIBRARY_OPTIMIZED "/Developer/SDKs/OgreSDK/Dependencies/Ogre.framework/Ogre")
-
-# SET(CEGUI_LIBRARY_OPTIMIZED "/Developer/SDKs/OgreSDK/Dependencies/CEGUI.framework/CEGUI")
-
-# SET(OGRE_LIBRARY_OPTIMIZED "/Developer/SDKs/OgreSDK/Dependencies/Ogre.framework" CACHE STRING "Ogre lib for OSX")
-# SET(CEGUI_LIBRARY_OPTIMIZED "/Developer/SDKs/OgreSDK/Dependencies/CEGUI.framework" CACHE STRING "CEGUI lib for OSX")
-
-ENDIF(APPLE)
Modified: code/branches/kicklib2/cmake/PackageConfig.cmake
===================================================================
--- code/branches/kicklib2/cmake/PackageConfig.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/PackageConfig.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -24,51 +24,6 @@
# Library files are treated separately.
#
-# Check package version info
-# MAJOR: Breaking change
-# MINOR: No breaking changes by the dependency package
-# For example any code running on 3.0 should still run on 3.1
-# But you can specify that the code only runs on 3.1 and higher
-# or 4.0 and higher (so both 3.1 and 4.0 will work).
-IF(MSVC)
- SET(ALLOWED_MINIMUM_VERSIONS 4.3 5.1 6.0)
-ELSE()
- SET(ALLOWED_MINIMUM_VERSIONS 4.1 5.2)
-ENDIF()
-
-IF(NOT EXISTS ${DEPENDENCY_PACKAGE_DIR}/version.txt)
- SET(DEPENDENCY_VERSION 1.0)
-ELSE()
- # Get version from file
- FILE(READ ${DEPENDENCY_PACKAGE_DIR}/version.txt _file_content)
- SET(_match)
- STRING(REGEX MATCH "([0-9]+.[0-9]+)" _match ${_file_content})
- IF(_match)
- SET(DEPENDENCY_VERSION ${_match})
- ELSE()
- MESSAGE(FATAL_ERROR "The version.txt file in the dependency file has corrupt version information.")
- ENDIF()
-ENDIF()
-
-INCLUDE(CompareVersionStrings)
-SET(_version_match FALSE)
-FOREACH(_version ${ALLOWED_MINIMUM_VERSIONS})
- # Get major version
- STRING(REGEX REPLACE "^([0-9]+)\\..*$" "\\1" _major_version "${_version}")
- COMPARE_VERSION_STRINGS(${DEPENDENCY_VERSION} ${_major_version} _result TRUE)
- IF(_result EQUAL 0)
- COMPARE_VERSION_STRINGS(${DEPENDENCY_VERSION} ${_version} _result FALSE)
- IF(NOT _result LESS 0)
- SET(_version_match TRUE)
- ENDIF()
- ENDIF()
-ENDFOREACH(_version)
-IF(NOT _version_match)
- MESSAGE(FATAL_ERROR "Your dependency package version is ${DEPENDENCY_VERSION}\n"
- "Possible required versions: ${ALLOWED_MINIMUM_VERSIONS}\n"
- "You can get a new version from www.orxonox.net")
-ENDIF()
-
IF(NOT _INTERNAL_PACKAGE_MESSAGE)
MESSAGE(STATUS "Using library package for the dependencies.")
SET(_INTERNAL_PACKAGE_MESSAGE 1 CACHE INTERNAL "Do not edit!" FORCE)
@@ -76,8 +31,8 @@
# Ogre versions >= 1.7 require the POCO library on Windows with MSVC for threading
COMPARE_VERSION_STRINGS(${DEPENDENCY_VERSION} 5 _result TRUE)
-IF(NOT _result EQUAL -1 AND NOT MINGW)
- SET(POCO_REQUIRED TRUE)
+IF(NOT _result EQUAL -1 AND NOT APPLE)
+ SET(POCO_REQUIRED TRUE)
ENDIF()
# Include paths and other special treatments
Modified: code/branches/kicklib2/cmake/PackageConfigMSVC.cmake
===================================================================
--- code/branches/kicklib2/cmake/PackageConfigMSVC.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/PackageConfigMSVC.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -27,6 +27,9 @@
IF(MSVC)
+ INCLUDE(CheckPackageVersion)
+ CHECK_PACKAGE_VERSION(4.3 6.0)
+
# 64 bit system?
IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
SET(BINARY_POSTFIX x64)
@@ -35,7 +38,7 @@
ENDIF()
# Choose right MSVC version
- STRING(REGEX REPLACE "^Visual Studio ([0-9][0-9]?) .*$" "\\1"
+ STRING(REGEX REPLACE "^Visual Studio ([0-9][0-9]?).*$" "\\1"
_msvc_version "${CMAKE_GENERATOR}")
SET(DEP_INCLUDE_DIR ${DEPENDENCY_PACKAGE_DIR}/include)
@@ -55,5 +58,7 @@
# to specify the libraries ourselves.
SET(TCL_LIBRARY ${DEP_LIBRARY_DIR}/tcl85.lib CACHE FILEPATH "")
SET(ZLIB_LIBRARY ${DEP_LIBRARY_DIR}/zdll.lib CACHE FILEPATH "")
+ # Part of Platform SDK and usually gets linked automatically
+ SET(WMI_LIBRARY wbemuuid.lib)
ENDIF(MSVC)
Modified: code/branches/kicklib2/cmake/PackageConfigMinGW.cmake
===================================================================
--- code/branches/kicklib2/cmake/PackageConfigMinGW.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/PackageConfigMinGW.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -27,6 +27,9 @@
IF(MINGW)
+ INCLUDE(CheckPackageVersion)
+ CHECK_PACKAGE_VERSION(6.0)
+
# 64 bit system?
IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
SET(BINARY_POSTFIX x64)
@@ -47,6 +50,10 @@
# Certain find scripts don't behave as ecpected to we have
# to specify the libraries ourselves.
SET(TCL_LIBRARY ${DEP_BINARY_DIR}/tcl85.dll CACHE FILEPATH "")
- SET(ZLIB_LIBRARY ${DEP_BINARY_DIR}/zlib1.dll CACHE FILEPATH "")
+ SET(ZLIB_LIBRARY ${DEP_BINARY_DIR}/libzlib.dll CACHE FILEPATH "")
+ # Not included in MinGW, so we need to supply it for OIS
+ SET(WMI_INCLUDE_DIR ${DEP_INCLUDE_DIR}/wmi/include)
+ SET(WMI_LIBRARY ${DEP_LIBRARY_DIR}/wbemuuid.lib)
+
ENDIF(MINGW)
Copied: code/branches/kicklib2/cmake/PackageConfigOSX.cmake (from rev 8096, code/branches/kicklib/cmake/PackageConfigOSX.cmake)
===================================================================
--- code/branches/kicklib2/cmake/PackageConfigOSX.cmake (rev 0)
+++ code/branches/kicklib2/cmake/PackageConfigOSX.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,100 @@
+ #
+ # ORXONOX - the hottest 3D action shooter ever to exist
+ # > www.orxonox.net <
+ #
+ # This program is free software; you can redistribute it and/or
+ # modify it under the terms of the GNU General Public License
+ # as published by the Free Software Foundation; either version 2
+ # of the License, or (at your option) any later version.
+ #
+ # This program is distributed in the hope that it will be useful,
+ # but WITHOUT ANY WARRANTY; without even the implied warranty of
+ # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ # GNU General Public License for more details.
+ #
+ # You should have received a copy of the GNU General Public License along
+ # with this program; if not, write to the Free Software Foundation,
+ # Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ #
+ #
+ # Author:
+ # Reto Grieder
+ # Description:
+ # OS X package configuration
+ #
+
+INCLUDE(CheckPackageVersion)
+
+CHECK_PACKAGE_VERSION(1.0)
+
+IF(NOT _INTERNAL_PACKAGE_MESSAGE)
+ MESSAGE(STATUS "Using library package for the dependencies.")
+ SET(_INTERNAL_PACKAGE_MESSAGE 1 CACHE INTERNAL "Do not edit!" FORCE)
+ENDIF()
+
+SET(DEP_INCLUDE_DIR ${DEPENDENCY_PACKAGE_DIR}/include)
+SET(DEP_LIBRARY_DIR ${DEPENDENCY_PACKAGE_DIR}/lib)
+SET(DEP_BINARY_DIR ${DEPENDENCY_PACKAGE_DIR}/bin)
+SET(DEP_FRAMEWORK_DIR ${DEPENDENCY_PACKAGE_DIR}/Library/Frameworks)
+
+# Sets the library path for the FIND_LIBRARY
+SET(CMAKE_LIBRARY_PATH ${DEP_LIBRARY_DIR})
+
+# Include paths and other special treatments
+SET(ENV{ALUTDIR} ${DEP_FRAMEWORK_DIR})
+SET(ENV{BOOST_ROOT} ${DEPENDENCY_PACKAGE_DIR})
+SET(ENV{CEGUIDIR} ${DEP_FRAMEWORK_DIR})
+SET(ENV{LUA_DIR} ${DEP_INCLUDE_DIR}/lua)
+SET(ENV{LUA5.1_DIR} ${DEP_INCLUDE_DIR}/lua)
+SET(ENV{OGGDIR} ${DEP_INCLUDE_DIR})
+SET(ENV{VORBISDIR} ${DEP_INCLUDE_DIR})
+SET(ENV{OGRE_HOME} ${DEP_FRAMEWORK_DIR})
+SET(ENV{OGRE_PLUGIN_DIR} ${DEP_BINARY_DIR})
+
+# For OS X 10.5 we have to ship modified headers to make it compile
+# on gcc >= 4.2 (binaries stay the same)
+# Sets the library path for the FIND_LIBRARY
+IF(CMAKE_SYSTEM_VERSION STREQUAL "10.5")
+ SET(ENV{OPENALDIR} ${DEP_INCLUDE_DIR}/openal)
+ENDIF()
+
+# Xcode won't be able to run the toluabind code generation if we're using the dependency package
+#IF(DEPENDENCY_PACKAGE_ENABLE)
+# IF(${CMAKE_GENERATOR} STREQUAL "Xcode")
+# SET(ENV{DYLD_LIBRARY_PATH} ${DEPENDENCY_PACKAGE_DIR}/lib)
+# SET(ENV{DYLD_FRAMEWORK_PATH} ${DEPENDENCY_PACKAGE_DIR}/Library/Frameworks)
+# ENDIF(${CMAKE_GENERATOR} STREQUAL "Xcode")
+#ENDIF(DEPENDENCY_PACKAGE_ENABLE)
+
+### INSTALL ###
+
+# Tcl script library
+# TODO: How does this work on OS X?
+#INSTALL(
+# DIRECTORY ${DEP_LIBRARY_DIR}/tcl/
+# DESTINATION lib/tcl
+#)
+
+# TODO: Install on OSX
+IF(FALSE)
+ ## DEBUG
+ # When installing a debug version, we really can't know which libraries
+ # are used in released mode because there might be deps of deps.
+ # --> Copy all of them, except the debug databases
+ INSTALL(
+ DIRECTORY ${DEP_BINARY_DIR}/
+ DESTINATION bin
+ CONFIGURATIONS Debug
+ REGEX "^.*\\.pdb$" EXCLUDE
+ )
+
+ ## RELEASE
+ # Try to filter out all the debug libraries. If the regex doesn't do the
+ # job anymore, simply adjust it.
+ INSTALL(
+ DIRECTORY ${DEP_BINARY_DIR}/
+ DESTINATION bin
+ CONFIGURATIONS Release RelWithDebInfo MinSizeRel
+ REGEX "_[Dd]\\.[a-zA-Z0-9+-]+$|-mt-gd-|^.*\\.pdb$" EXCLUDE
+ )
+ENDIF()
Modified: code/branches/kicklib2/cmake/tools/CheckOGREPlugins.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/CheckOGREPlugins.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/CheckOGREPlugins.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -51,12 +51,12 @@
FIND_LIBRARY(OGRE_PLUGIN_${_plugin}_OPTIMIZED
NAMES ${_plugin}
PATHS $ENV{OGRE_HOME} $ENV{OGRE_PLUGIN_DIR}
- PATH_SUFFIXES bin/Release bin/release Release release lib lib/OGRE bin
+ PATH_SUFFIXES bin/Release bin/release Release release lib lib/OGRE bin Ogre.framework/Resources
)
FIND_LIBRARY(OGRE_PLUGIN_${_plugin}_DEBUG
NAMES ${_plugin}d ${_plugin}_d ${_plugin}
PATHS $ENV{OGRE_HOME} $ENV{OGRE_PLUGIN_DIR}
- PATH_SUFFIXES bin/Debug bin/debug Debug debug lib lib/OGRE bin
+ PATH_SUFFIXES bin/Debug bin/debug Debug debug lib lib/OGRE bin Ogre.framework/Resources
)
# We only need at least one render system. Check at the end.
IF(NOT ${_plugin} MATCHES "RenderSystem")
Copied: code/branches/kicklib2/cmake/tools/CheckPackageVersion.cmake (from rev 8096, code/branches/kicklib/cmake/tools/CheckPackageVersion.cmake)
===================================================================
--- code/branches/kicklib2/cmake/tools/CheckPackageVersion.cmake (rev 0)
+++ code/branches/kicklib2/cmake/tools/CheckPackageVersion.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,66 @@
+ #
+ # ORXONOX - the hottest 3D action shooter ever to exist
+ # > www.orxonox.net <
+ #
+ # This program is free software; you can redistribute it and/or
+ # modify it under the terms of the GNU General Public License
+ # as published by the Free Software Foundation; either version 2
+ # of the License, or (at your option) any later version.
+ #
+ # This program is distributed in the hope that it will be useful,
+ # but WITHOUT ANY WARRANTY; without even the implied warranty of
+ # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ # GNU General Public License for more details.
+ #
+ # You should have received a copy of the GNU General Public License along
+ # with this program; if not, write to the Free Software Foundation,
+ # Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ #
+ #
+ # Author:
+ # Reto Grieder
+ # Description:
+ # Check package version info
+ # MAJOR: Breaking change
+ # MINOR: No breaking changes by the dependency package
+ # For example any code running on 3.0 should still run on 3.1
+ # But you can specify that the code only runs on 3.1 and higher
+ # or 4.0 and higher (so both 3.1 and 4.0 will work).
+
+MACRO(CHECK_PACKAGE_VERSION)
+ SET(_allowed_minimum_versions ${ARGN})
+
+ IF(NOT EXISTS ${DEPENDENCY_PACKAGE_DIR}/version.txt)
+ SET(DEPENDENCY_VERSION 1.0)
+ ELSE()
+ # Get version from file
+ FILE(READ ${DEPENDENCY_PACKAGE_DIR}/version.txt _file_content)
+ SET(_match)
+ STRING(REGEX MATCH "([0-9]+.[0-9]+)" _match ${_file_content})
+ IF(_match)
+ SET(DEPENDENCY_VERSION ${_match})
+ ELSE()
+ MESSAGE(FATAL_ERROR "The version.txt file in the dependency file has corrupt version information.")
+ ENDIF()
+ ENDIF()
+
+ INCLUDE(CompareVersionStrings)
+ SET(_version_match FALSE)
+ FOREACH(_version ${_allowed_minimum_versions})
+ # Get major version
+ STRING(REGEX REPLACE "^([0-9]+)\\..*$" "\\1" _major_version "${_version}")
+ COMPARE_VERSION_STRINGS(${DEPENDENCY_VERSION} ${_major_version} _result TRUE)
+ IF(_result EQUAL 0)
+ COMPARE_VERSION_STRINGS(${DEPENDENCY_VERSION} ${_version} _result FALSE)
+ IF(NOT _result LESS 0)
+ SET(_version_match TRUE)
+ ENDIF()
+ ENDIF()
+ ENDFOREACH(_version)
+ IF(NOT _version_match)
+ MESSAGE(FATAL_ERROR "Your dependency package version is ${DEPENDENCY_VERSION}\n"
+ "Possible required versions: ${_allowed_minimum_versions}\n"
+ "You can get a new version from www.orxonox.net")
+ ENDIF()
+
+ENDMACRO(CHECK_PACKAGE_VERSION)
Modified: code/branches/kicklib2/cmake/tools/FindALUT.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/FindALUT.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/FindALUT.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,80 +1,60 @@
-# - Locate FreeAlut
-# This module defines
-# ALUT_LIBRARY
-# ALUT_FOUND, if false, do not try to link against Alut
-# ALUT_INCLUDE_DIR, where to find the headers
-#
-# $ALUTDIR is an environment variable that would
-# correspond to the ./configure --prefix=$ALUTDIR
-# used in building Alut.
-#
-# Created by Eric Wing. This was influenced by the FindSDL.cmake module.
-# On OSX, this will prefer the Framework version (if found) over others.
-# People will have to manually change the cache values of
-# ALUT_LIBRARY to override this selection.
-# Tiger will include OpenAL as part of the System.
-# But for now, we have to look around.
-# Other (Unix) systems should be able to utilize the non-framework paths.
-#
-# Several changes and additions by Fabian 'x3n' Landau
-# Some simplifications by Adrian Friedli and Reto Grieder
-# > www.orxonox.net <
+ #
+ # ORXONOX - the hottest 3D action shooter ever to exist
+ # > www.orxonox.net <
+ #
+ # This program is free software; you can redistribute it and/or
+ # modify it under the terms of the GNU General Public License
+ # as published by the Free Software Foundation; either version 2
+ # of the License, or (at your option) any later version.
+ #
+ # This program is distributed in the hope that it will be useful,
+ # but WITHOUT ANY WARRANTY; without even the implied warranty of
+ # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ # GNU General Public License for more details.
+ #
+ # You should have received a copy of the GNU General Public License along
+ # with this program; if not, write to the Free Software Foundation,
+ # Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ #
+ #
+ # Author:
+ # Kevin Young
+ # Description:
+ # Variables defined:
+ # ALUT_FOUND
+ # ALUT_INCLUDE_DIR
+ # ALUT_LIBRARY
+ #
INCLUDE(FindPackageHandleStandardArgs)
INCLUDE(HandleLibraryTypes)
-FIND_PATH(ALUT_INCLUDE_DIR AL/alut.h
- PATHS
- $ENV{ALUTDIR}
- ~/Library/Frameworks/OpenAL.framework
- /Library/Frameworks/OpenAL.framework
- /System/Library/Frameworks/OpenAL.framework # Tiger
- PATH_SUFFIXES include include/OpenAL include/AL Headers
+FIND_PATH(ALUT_INCLUDE_DIR alut.h
+ PATHS $ENV{ALUTDIR}
+ PATH_SUFFIXES include include/AL Headers Headers/AL
)
+FIND_LIBRARY(ALUT_LIBRARY_OPTIMIZED
+ NAMES alut ALUT
+ PATHS $ENV{ALUTDIR}
+ PATH_SUFFIXES lib bin/Release bin/release Release release ALUT
+)
+FIND_LIBRARY(ALUT_LIBRARY_DEBUG
+ NAMES alutd alut_d alutD alut_D ALUTd ALUT_d ALUTD ALUT_D
+ PATHS $ENV{ALUTDIR}
+ PATH_SUFFIXES lib bin/Debug bin/debug Debug debug ALUT
+)
-# I'm not sure if I should do a special casing for Apple. It is
-# unlikely that other Unix systems will find the framework path.
-# But if they do ([Next|Open|GNU]Step?),
-# do they want the -framework option also?
-IF(${ALUT_INCLUDE_DIR} MATCHES ".framework")
-
- STRING(REGEX REPLACE "(.*)/.*\\.framework/.*" "\\1" ALUT_FRAMEWORK_PATH_TMP ${ALUT_INCLUDE_DIR})
- IF("${ALUT_FRAMEWORK_PATH_TMP}" STREQUAL "/Library/Frameworks"
- OR "${ALUT_FRAMEWORK_PATH_TMP}" STREQUAL "/System/Library/Frameworks"
- )
- # String is in default search path, don't need to use -F
- SET (ALUT_LIBRARY_OPTIMIZED "-framework OpenAL" CACHE STRING "OpenAL framework for OSX")
- ELSE()
- # String is not /Library/Frameworks, need to use -F
- SET(ALUT_LIBRARY_OPTIMIZED "-F${ALUT_FRAMEWORK_PATH_TMP} -framework OpenAL" CACHE STRING "OpenAL framework for OSX")
- ENDIF()
- # Clear the temp variable so nobody can see it
- SET(ALUT_FRAMEWORK_PATH_TMP "" CACHE INTERNAL "")
-
-ELSE()
- FIND_LIBRARY(ALUT_LIBRARY_OPTIMIZED
- NAMES alut
- PATHS $ENV{ALUTDIR}
- PATH_SUFFIXES lib libs
- )
- FIND_LIBRARY(ALUT_LIBRARY_DEBUG
- NAMES alutd alut_d alutD alut_D
- PATHS $ENV{ALUTDIR}
- PATH_SUFFIXES lib libs
- )
-ENDIF()
-
# Handle the REQUIRED argument and set ALUT_FOUND
FIND_PACKAGE_HANDLE_STANDARD_ARGS(ALUT DEFAULT_MSG
- ALUT_LIBRARY_OPTIMIZED
- ALUT_INCLUDE_DIR
+ ALUT_LIBRARY_OPTIMIZED
+ ALUT_INCLUDE_DIR
)
# Collect optimized and debug libraries
HANDLE_LIBRARY_TYPES(ALUT)
MARK_AS_ADVANCED(
- ALUT_INCLUDE_DIR
- ALUT_LIBRARY_OPTIMIZED
- ALUT_LIBRARY_DEBUG
+ ALUT_INCLUDE_DIR
+ ALUT_LIBRARY_OPTIMIZED
+ ALUT_LIBRARY_DEBUG
)
Modified: code/branches/kicklib2/cmake/tools/FindCEGUI.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/FindCEGUI.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/FindCEGUI.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -30,7 +30,7 @@
INCLUDE(FindPackageHandleAdvancedArgs)
INCLUDE(HandleLibraryTypes)
-# Find headers
+# Find CEGUI headers
FIND_PATH(CEGUI_INCLUDE_DIR CEGUI.h
PATHS $ENV{CEGUIDIR}
PATH_SUFFIXES include include/CEGUI CEGUI.framework/Headers
@@ -43,7 +43,7 @@
FIND_LIBRARY(CEGUI_LIBRARY_OPTIMIZED
NAMES CEGUIBase CEGUI
PATHS $ENV{CEGUIDIR}
- PATH_SUFFIXES lib bin
+ PATH_SUFFIXES lib bin CEGUIBase.framework CEGUI.framework
)
FIND_LIBRARY(CEGUI_LIBRARY_DEBUG
NAMES
@@ -53,11 +53,16 @@
PATH_SUFFIXES lib bin
)
+# Find CEGUILua headers
+FIND_PATH(CEGUILUA_INCLUDE_DIR CEGUILua.h
+ PATHS $ENV{CEGUIDIR} ${CEGUI_INCLUDE_DIR}/ScriptingModules/LuaScriptModule
+ PATH_SUFFIXES include include/CEGUI CEGUILuaScriptModule.framework/Headers
+)
# Find CEGUILua libraries
FIND_LIBRARY(CEGUILUA_LIBRARY_OPTIMIZED
NAMES CEGUILua CEGUILuaScriptModule
PATHS $ENV{CEGUIDIR}
- PATH_SUFFIXES lib bin
+ PATH_SUFFIXES lib bin CEGUILuaScriptModule.framework
)
FIND_LIBRARY(CEGUILUA_LIBRARY_DEBUG
NAMES CEGUILuad CEGUILua_d CEGUILuaScriptModuled CEGUILuaScriptModule_d
@@ -65,11 +70,24 @@
PATH_SUFFIXES lib bin
)
+# Find CEGUI Tolua++ include file
+# We only need to add this path since we use tolua++ like a normal
+# dependency but it is shipped with CEGUILua.
+FIND_PATH(CEGUI_TOLUA_INCLUDE_DIR tolua++.h
+ PATHS
+ ${CEGUILUA_INCLUDE_DIR}
+ # For newer CEGUI versions >= 0.7
+ ${CEGUILUA_INCLUDE_DIR}/support/tolua++
+ # For Apples
+ $ENV{CEGUIDIR}
+ PATH_SUFFIXES ceguitolua++.framework/Headers
+ NO_DEFAULT_PATH # MUST be in CEGUILUA_INCLUDE_DIR somewhere
+)
# Find CEGUI Tolua++ libraries
FIND_LIBRARY(CEGUI_TOLUA_LIBRARY_OPTIMIZED
- NAMES CEGUItoluapp tolua++
+ NAMES CEGUItoluapp tolua++ ceguitolua++
PATHS $ENV{CEGUIDIR}
- PATH_SUFFIXES lib bin
+ PATH_SUFFIXES lib bin ceguitolua++.framework
)
FIND_LIBRARY(CEGUI_TOLUA_LIBRARY_DEBUG
NAMES CEGUItoluappd CEGUItoluapp_d tolua++d tolua++_d
@@ -80,6 +98,11 @@
# Newer versions of CEGUI have the renderer for OGRE shipped with them
COMPARE_VERSION_STRINGS("${CEGUI_VERSION}" "0.7" _version_compare TRUE)
IF(_version_compare GREATER -1)
+ # Find CEGUI OGRE Renderer headers
+ FIND_PATH(CEGUI_OGRE_RENDERER_INCLUDE_DIR CEGUIOgreRenderer.h
+ PATHS $ENV{CEGUIDIR} ${CEGUI_INCLUDE_DIR}/RendererModules/Ogre
+ PATH_SUFFIXES include include/CEGUI CEGUI.framework/Headers
+ )
# Find CEGUI OGRE Renderer libraries
FIND_LIBRARY(CEGUI_OGRE_RENDERER_LIBRARY_OPTIMIZED
NAMES CEGUIOgreRenderer
@@ -91,8 +114,12 @@
PATHS $ENV{CEGUIDIR}
PATH_SUFFIXES lib bin
)
- SET(CEGUI_OGRE_RENDERER_LIBRARY_NAME CEGUI_OGRE_RENDERER_LIBRARY_OPTIMIZED)
+ SET(CEGUI_OGRE_RENDERER_REQUIRED_VARIABLES
+ CEGUI_OGRE_RENDERER_INCLUDE_DIR
+ CEGUI_OGRE_RENDERER_LIBRARY_OPTIMIZED
+ )
ELSE()
+ SET(CEGUI_OLD_VERSION TRUE)
SET(CEGUI_OGRE_RENDERER_BUILD_REQUIRED TRUE)
ENDIF()
@@ -101,9 +128,11 @@
FIND_PACKAGE_HANDLE_ADVANCED_ARGS(CEGUI DEFAULT_MSG "${CEGUI_VERSION}"
CEGUI_INCLUDE_DIR
CEGUI_LIBRARY_OPTIMIZED
+ CEGUILUA_INCLUDE_DIR
CEGUILUA_LIBRARY_OPTIMIZED
+ CEGUI_TOLUA_INCLUDE_DIR
CEGUI_TOLUA_LIBRARY_OPTIMIZED
- ${CEGUI_OGRE_RENDERER_LIBRARY_NAME}
+ ${CEGUI_OGRE_RENDERER_REQUIRED_VARIABLES}
)
# Collect optimized and debug libraries
@@ -118,10 +147,13 @@
CEGUI_INCLUDE_DIR
CEGUI_LIBRARY_OPTIMIZED
CEGUI_LIBRARY_DEBUG
+ CEGUILUA_INCLUDE_DIR
CEGUILUA_LIBRARY_OPTIMIZED
CEGUILUA_LIBRARY_DEBUG
+ CEGUI_TOLUA_INCLUDE_DIR
CEGUI_TOLUA_LIBRARY_OPTIMIZED
CEGUI_TOLUA_LIBRARY_DEBUG
+ CEGUI_OGRE_RENDERER_INCLUDE_DIR
CEGUI_OGRE_RENDERER_LIBRARY_OPTIMIZED
CEGUI_OGRE_RENDERER_LIBRARY_DEBUG
)
Modified: code/branches/kicklib2/cmake/tools/FindOgg.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/FindOgg.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/FindOgg.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -21,7 +21,7 @@
PATH_SUFFIXES include
)
FIND_LIBRARY(OGG_LIBRARY_OPTIMIZED
- NAMES ogg
+ NAMES ogg ogg-0
PATHS $ENV{OGGDIR}
PATH_SUFFIXES lib
)
Modified: code/branches/kicklib2/cmake/tools/FindPOCO.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/FindPOCO.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/FindPOCO.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -28,7 +28,7 @@
FIND_PATH(POCO_INCLUDE_DIR Poco/Poco.h
PATHS $ENV{POCODIR}
- PATH_SUFFIXES include
+ PATH_SUFFIXES include Foundation/include
)
FIND_LIBRARY(POCO_LIBRARY_OPTIMIZED
NAMES PocoFoundation
Modified: code/branches/kicklib2/cmake/tools/FindVorbis.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/FindVorbis.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/FindVorbis.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -21,7 +21,7 @@
PATH_SUFFIXES include
)
FIND_LIBRARY(VORBIS_LIBRARY_OPTIMIZED
- NAMES vorbis
+ NAMES vorbis vorbis-0
PATHS $ENV{VORBISDIR}
PATH_SUFFIXES lib
)
@@ -31,7 +31,7 @@
PATH_SUFFIXES lib
)
FIND_LIBRARY(VORBISFILE_LIBRARY_OPTIMIZED
- NAMES vorbisfile
+ NAMES vorbisfile vorbisfile-3
PATHS $ENV{VORBISDIR}
PATH_SUFFIXES lib
)
Modified: code/branches/kicklib2/cmake/tools/GenerateToluaBindings.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/GenerateToluaBindings.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/GenerateToluaBindings.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -32,6 +32,16 @@
# RUNTIME_LIBRARY_DIRECTORY - Working directory
#
+# Workaround for XCode: The folder where the bind files are written to has
+# to be present beforehand.
+# We have to do this here because the header files are all stored in a single
+# location per configuration.
+IF(CMAKE_CONFIGURATION_TYPES)
+ FOREACH(_dir ${CMAKE_CONFIGURATION_TYPES})
+ FILE(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/src/toluabind/${_dir}")
+ ENDFOREACH(_dir)
+ENDIF()
+
FUNCTION(GENERATE_TOLUA_BINDINGS _tolua_package _target_source_files)
SET(_tolua_inputfiles ${ARGN})
LIST(REMOVE_ITEM _tolua_inputfiles "INPUTFILES")
Modified: code/branches/kicklib2/cmake/tools/TargetUtilities.cmake
===================================================================
--- code/branches/kicklib2/cmake/tools/TargetUtilities.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/cmake/tools/TargetUtilities.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,7 +52,7 @@
# Note:
# This function also installs the target!
# Prerequisistes:
- # ORXONOX_DEFAULT_LINK, ORXONOX_CONFIG_FILES
+ # ORXONOX_DEFAULT_LINK, ORXONOX_CONFIG_FILES, ORXONOX_CONFIG_FILES_GENERATED
# Parameters:
# _target_name, ARGN for the macro arguments
#
@@ -168,6 +168,13 @@
IF(_arg_TOLUA_FILES)
GENERATE_TOLUA_BINDINGS(${_target_name_capitalised} _${_target_name}_files
INPUTFILES ${_arg_TOLUA_FILES})
+ # Workaround for XCode: The folder where the bind files are written to has
+ # to be present beforehand.
+ IF(CMAKE_CONFIGURATION_TYPES)
+ FOREACH(_dir ${CMAKE_CONFIGURATION_TYPES})
+ FILE(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${_dir})
+ ENDFOREACH(_dir)
+ ENDIF()
ENDIF()
# First part (pre target) of precompiled header files
@@ -191,13 +198,19 @@
GENERATE_SOURCE_GROUPS(${_${_target_name}_files})
IF(NOT _arg_ORXONOX_EXTERNAL)
- # Move the prereqs.h file to the config section
+ # Move the ...Prereqs.h and the PCH files to the 'Config' section
IF(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${_target_name_capitalised}Prereqs.h)
SOURCE_GROUP("Config" FILES ${_target_name_capitalised}Prereqs.h)
ENDIF()
- # Add config files to the config section
- LIST(APPEND _${_target_name}_files ${ORXONOX_CONFIG_FILES})
+ IF(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${_arg_PCH_FILE})
+ SOURCE_GROUP("Config" FILES ${CMAKE_CURRENT_SOURCE_DIR}/${_arg_PCH_FILE})
+ ENDIF()
+ # Also include all config files
+ LIST(APPEND _${_target_name}_files ${ORXONOX_CONFIG_FILES} ${ORXONOX_CONFIG_FILES_GENERATED})
+ # Add unprocessed config files to the 'Config' section
SOURCE_GROUP("Config" FILES ${ORXONOX_CONFIG_FILES})
+ # Add generated config files to the 'Generated' section
+ SOURCE_GROUP("Generated" FILES ${ORXONOX_CONFIG_FILES_GENERATED})
ENDIF()
ENDIF()
@@ -216,12 +229,13 @@
# No warnings needed from third party libraries
IF(_arg_ORXONOX_EXTERNAL)
REMOVE_COMPILER_FLAGS("-W3 -W4" MSVC)
- ADD_COMPILER_FLAGS("-w")
+ ADD_COMPILER_FLAGS("-w" NOT MSVC)
+ ADD_COMPILER_FLAGS("-W0" MSVC)
ENDIF()
# Don't compile header files
FOREACH(_file ${_${_target_name}_files})
- IF(NOT _file MATCHES "\\.(c|cc|cpp|cxx)$")
+ IF(NOT _file MATCHES "\\.(c|cc|cpp|cxx|mm)$")
SET_SOURCE_FILES_PROPERTIES(${_file} PROPERTIES HEADER_FILE_ONLY TRUE)
ENDIF()
ENDFOREACH(_file)
Modified: code/branches/kicklib2/data/gui/scripts/AudioMenu.lua
===================================================================
--- code/branches/kicklib2/data/gui/scripts/AudioMenu.lua 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/data/gui/scripts/AudioMenu.lua 2011-04-21 16:58:23 UTC (rev 8284)
@@ -31,6 +31,8 @@
local themeList = {}
table.insert(themeList, "Default")
table.insert(themeList, "Drum n' Bass")
+ table.insert(themeList, "8-Bit Style")
+ table.insert(themeList, "Corny Jazz")
for k,v in pairs(themeList) do
item = CEGUI.createListboxTextItem(v)
item:setSelectionBrushImage(menuImageSet, "MultiListSelectionBrush")
@@ -38,6 +40,10 @@
end
if orxonox.getConfig("MoodManager", "mood_") == "dnb" then
listboxwindow:setItemSelectState(1,true)
+ elseif orxonox.getConfig("MoodManager", "mood_") == "eightbit" then
+ listboxwindow:setItemSelectState(2,true)
+ elseif orxonox.getConfig("MoodManager", "mood_") == "jazzy" then
+ listboxwindow:setItemSelectState(3,true)
else
listboxwindow:setItemSelectState(0,true)
end
@@ -167,6 +173,10 @@
function P.AudioThemeListbox_changed(e)
if listboxwindow:isItemSelected(1) then
orxonox.config("MoodManager", "mood_", "dnb")
+ elseif listboxwindow:isItemSelected(2) then
+ orxonox.config("MoodManager", "mood_", "eightbit")
+ elseif listboxwindow:isItemSelected(3) then
+ orxonox.config("MoodManager", "mood_", "jazzy")
else
orxonox.config("MoodManager", "mood_", "default")
end
Modified: code/branches/kicklib2/src/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -68,9 +68,20 @@
# Set the search paths for include files
INCLUDE_DIRECTORIES(
+ # OrxonoxConfig.h
+ ${CMAKE_CURRENT_BINARY_DIR}
+
+ # All includes in "externals" should be prefixed with the path
+ # relative to "external" to avoid conflicts
+ ${CMAKE_CURRENT_SOURCE_DIR}/external
+ # Include directories needed even if only included by Orxonox
+ ${CMAKE_CURRENT_SOURCE_DIR}/external/bullet
+ ${CMAKE_CURRENT_SOURCE_DIR}/external/ois
+
# External
${OGRE_INCLUDE_DIR}
${CEGUI_INCLUDE_DIR}
+ ${CEGUI_TOLUA_INCLUDE_DIR}
#${ENET_INCLUDE_DIR}
${Boost_INCLUDE_DIRS}
${POCO_INCLUDE_DIR}
@@ -82,18 +93,12 @@
${TCL_INCLUDE_PATH}
${DIRECTX_INCLUDE_DIR}
${ZLIB_INCLUDE_DIR}
+)
- # All includes in "externals" should be prefixed with the path
- # relative to "external" to avoid conflicts
- ${CMAKE_CURRENT_SOURCE_DIR}/external
- # Include directories needed even if only included by Orxonox
- ${CMAKE_CURRENT_SOURCE_DIR}/external/bullet
- ${CMAKE_CURRENT_SOURCE_DIR}/external/ois
+IF(CEGUI_OLD_VERSION)
+ INCLUDE_DIRECTORIES(${CEGUILUA_INCLUDE_DIR})
+ENDIF()
- # OrxonoxConfig.h
- ${CMAKE_CURRENT_BINARY_DIR}
-)
-
IF (DBGHELP_FOUND)
INCLUDE_DIRECTORIES(${DBGHELP_INCLUDE_DIR})
ENDIF()
@@ -164,9 +169,13 @@
ELSE()
SET(MSVC_PLATFORM "Win32")
ENDIF()
- STRING(REGEX REPLACE "^Visual Studio ([0-9][0-9]?) .*$" "\\1"
- VISUAL_STUDIO_VERSION_SIMPLE "${CMAKE_GENERATOR}")
- CONFIGURE_FILE("${CMAKE_CURRENT_SOURCE_DIR}/orxonox-main.vcproj.user.in" "${CMAKE_CURRENT_BINARY_DIR}/orxonox-main.vcproj.user")
+ IF(MSVC10)
+ CONFIGURE_FILE("${CMAKE_CURRENT_SOURCE_DIR}/orxonox-main.vcxproj.user.in" "${CMAKE_CURRENT_BINARY_DIR}/orxonox-main.vcxproj.user")
+ ELSE()
+ STRING(REGEX REPLACE "^Visual Studio ([0-9][0-9]?).*$" "\\1"
+ VISUAL_STUDIO_VERSION_SIMPLE "${CMAKE_GENERATOR}")
+ CONFIGURE_FILE("${CMAKE_CURRENT_SOURCE_DIR}/orxonox-main.vcproj.user.in" "${CMAKE_CURRENT_BINARY_DIR}/orxonox-main.vcproj.user")
+ ENDIF()
ENDIF(MSVC)
#################### Doxygen ####################
Modified: code/branches/kicklib2/src/OrxonoxConfig.cmake
===================================================================
--- code/branches/kicklib2/src/OrxonoxConfig.cmake 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/OrxonoxConfig.cmake 2011-04-21 16:58:23 UTC (rev 8284)
@@ -31,7 +31,8 @@
SET(CMAKE_SKIP_BUILD_RPATH FALSE)
# Global switch to disable Precompiled Header Files
-IF(PCH_COMPILER_SUPPORT)
+# Note: PCH temporarily disabled on Mac because of severe problems
+IF(PCH_COMPILER_SUPPORT AND NOT APPLE)
OPTION(PCH_ENABLE "Global PCH switch" TRUE)
ENDIF()
@@ -52,13 +53,6 @@
SET(ORXONOX_LITTLE_ENDIAN TRUE)
ENDIF()
-# 32/64 bit system check
-IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
- SET(ORXONOX_ARCH_64 TRUE)
-ELSE()
- SET(ORXONOX_ARCH_32 TRUE)
-ENDIF()
-
# Platforms
SET(ORXONOX_PLATFORM_WINDOWS ${WIN32})
SET(ORXONOX_PLATFORM_APPLE ${APPLE})
@@ -74,10 +68,14 @@
CHECK_CXX_SOURCE_COMPILES("${_source}" HAVE_FORCEINLINE)
ENDIF(MSVC)
-# Check iso646.h include (literal operators)
+# Check some non standard system includes
INCLUDE(CheckIncludeFileCXX)
CHECK_INCLUDE_FILE_CXX(iso646.h HAVE_ISO646_H)
+CHECK_INCLUDE_FILE_CXX(stdint.h HAVE_STDINT_H)
+# Part of a woraround for OS X warnings. See OrxonoxConfig.h.in
+SET(ORX_HAVE_STDINT_H ${HAVE_STDINT_H})
+
IF(MSVC)
# Check whether we can use Visual Leak Detector
FIND_FILE(VLD_DLL vld_x86.dll)
@@ -105,8 +103,10 @@
CONFIGURE_FILE(SpecialConfig.h.in ${CMAKE_CURRENT_BINARY_DIR}/SpecialConfig.h)
SET(ORXONOX_CONFIG_FILES
- ${CMAKE_CURRENT_BINARY_DIR}/OrxonoxConfig.h
${CMAKE_CURRENT_SOURCE_DIR}/OrxonoxConfig.h.in
- ${CMAKE_CURRENT_BINARY_DIR}/SpecialConfig.h
${CMAKE_CURRENT_SOURCE_DIR}/SpecialConfig.h.in
)
+SET(ORXONOX_CONFIG_FILES_GENERATED
+ ${CMAKE_CURRENT_BINARY_DIR}/OrxonoxConfig.h
+ ${CMAKE_CURRENT_BINARY_DIR}/SpecialConfig.h
+)
Modified: code/branches/kicklib2/src/OrxonoxConfig.h.in
===================================================================
--- code/branches/kicklib2/src/OrxonoxConfig.h.in 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/OrxonoxConfig.h.in 2011-04-21 16:58:23 UTC (rev 8284)
@@ -79,16 +79,19 @@
#cmakedefine ORXONOX_LITTLE_ENDIAN
// Architecture
-#cmakedefine ORXONOX_ARCH_32
-#cmakedefine ORXONOX_ARCH_64
+#if defined(__x86_64__) || defined(_M_X64) || defined(__powerpc64__) || defined(__alpha__) || defined(__ia64__) || defined(__s390__) || defined(__s390x__)
+# define ORXONOX_ARCH_64
+#else
+# define ORXONOX_ARCH_32
+#endif
// See if we can use __forceinline or if we need to use __inline instead
#cmakedefine HAVE_FORCEINLINE
-#ifndef FORCEINLINE
+#ifndef ORX_FORCEINLINE
# ifdef HAVE_FORCEINLINE
-# define FORCEINLINE __forceinline
+# define ORX_FORCEINLINE __forceinline
# else
-# define FORCEINLINE __inline
+# define ORX_FORCEINLINE __inline
# endif
#endif
@@ -157,8 +160,11 @@
# include <iso646.h>
#endif
-#cmakedefine HAVE_STDINT_H
-#ifdef HAVE_STDINT_H
+// On OS X some headers already define HAVE_STDINT_H and that spits out
+// some warnings. Therefore we use this macro.
+// Note: This requires some extra code in OrxonoxConfig.cmake
+#cmakedefine ORX_HAVE_STDINT_H
+#ifdef ORX_HAVE_STDINT_H
# include <stdint.h>
#elif defined(ORXONOX_COMPILER_MSVC)
typedef __int8 int8_t;
Modified: code/branches/kicklib2/src/SpecialConfig.h.in
===================================================================
--- code/branches/kicklib2/src/SpecialConfig.h.in 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/SpecialConfig.h.in 2011-04-21 16:58:23 UTC (rev 8284)
@@ -91,17 +91,27 @@
const char moduleExtension[] = "@ORXONOX_MODULE_EXTENSION@";
// OGRE PLUGINS
+ // Apple has trouble finding OGRE plugins because of its install-name convention
+ // Adopting the executable_path structure for later use in app bundles
#ifdef NDEBUG
const char ogrePlugins[] = "@OGRE_PLUGINS_RELEASE@";
# ifdef DEPENDENCY_PACKAGE_ENABLE
- const char ogrePluginsDirectory[] = ".";
+# ifdef ORXONOX_PLATFORM_APPLE
+ const char ogrePluginsDirectory[] = "@executable_path/../Plugins";
+# else
+ const char ogrePluginsDirectory[] = ".";
+# endif
# else
const char ogrePluginsDirectory[] = "@OGRE_PLUGINS_FOLDER_RELEASE@";
# endif
#else
const char ogrePlugins[] = "@OGRE_PLUGINS_DEBUG@";
# ifdef DEPENDENCY_PACKAGE_ENABLE
- const char ogrePluginsDirectory[] = ".";
+# ifdef ORXONOX_PLATFORM_APPLE
+ const char ogrePluginsDirectory[] = "@OGRE_PLUGINS_FOLDER_DEBUG@";
+# else
+ const char ogrePluginsDirectory[] = ".";
+# endif
# else
const char ogrePluginsDirectory[] = "@OGRE_PLUGINS_FOLDER_DEBUG@";
# endif
Modified: code/branches/kicklib2/src/external/bullet/Bullet-C-Api.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/Bullet-C-Api.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/Bullet-C-Api.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -147,6 +147,7 @@
extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
+ extern void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
typedef struct plRayCastResult {
plRigidBodyHandle m_body;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -150,6 +150,8 @@
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
+ virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+
void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
@@ -285,8 +287,33 @@
}
}
+template <typename BP_FP_INT_TYPE>
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
+{
+ if (m_raycastAccelerator)
+ {
+ m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback);
+ } else
+ {
+ //choose axis?
+ BP_FP_INT_TYPE axis = 0;
+ //for each proxy
+ for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
+ {
+ if (m_pEdges[axis][i].IsMax())
+ {
+ Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
+ if (TestAabbAgainstAabb2(aabbMin,aabbMax,handle->m_aabbMin,handle->m_aabbMax))
+ {
+ callback.process(handle);
+ }
+ }
+ }
+ }
+}
+
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -26,15 +26,21 @@
-struct btBroadphaseRayCallback
+struct btBroadphaseAabbCallback
{
+ virtual ~btBroadphaseAabbCallback() {}
+ virtual bool process(const btBroadphaseProxy* proxy) = 0;
+};
+
+
+struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
+{
///added some cached data to accelerate ray-AABB tests
btVector3 m_rayDirectionInverse;
unsigned int m_signs[3];
btScalar m_lambda_max;
virtual ~btBroadphaseRayCallback() {}
- virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
#include "LinearMath/btVector3.h"
@@ -54,6 +60,8 @@
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
+ virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
+
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
@@ -65,7 +73,7 @@
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
///reset broadphase internal structures, to ensure determinism/reproducability
- virtual void resetPool(btDispatcher* dispatcher) {};
+ virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
virtual void printStats() = 0;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -46,6 +46,8 @@
UNIFORM_SCALING_SHAPE_PROXYTYPE,
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
+ BOX_2D_SHAPE_PROXYTYPE,
+ CONVEX_2D_SHAPE_PROXYTYPE,
CUSTOM_CONVEX_SHAPE_TYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
@@ -139,6 +141,11 @@
return (proxyType < CONCAVE_SHAPES_START_HERE);
}
+ static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
+ {
+ return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
+ }
+
static SIMD_FORCE_INLINE bool isConcave(int proxyType)
{
return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
@@ -148,10 +155,22 @@
{
return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
}
+
+ static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
+ {
+ return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
+ }
+
static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}
+
+ static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
+ {
+ return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
+ }
+
}
;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -61,7 +61,7 @@
if(node->isinternal())
{
getmaxdepth(node->childs[0],depth+1,maxdepth);
- getmaxdepth(node->childs[0],depth+1,maxdepth);
+ getmaxdepth(node->childs[1],depth+1,maxdepth);
} else maxdepth=btMax(maxdepth,depth);
}
@@ -238,7 +238,7 @@
right.resize(0);
for(int i=0,ni=leaves.size();i<ni;++i)
{
- if(dot(axis,leaves[i]->volume.Center()-org)<0)
+ if(btDot(axis,leaves[i]->volume.Center()-org)<0)
left.push_back(leaves[i]);
else
right.push_back(leaves[i]);
@@ -319,7 +319,7 @@
const btVector3 x=leaves[i]->volume.Center()-org;
for(int j=0;j<3;++j)
{
- ++splitcount[j][dot(x,axis[j])>0?1:0];
+ ++splitcount[j][btDot(x,axis[j])>0?1:0];
}
}
for( i=0;i<3;++i)
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvt.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -32,7 +32,7 @@
#define DBVT_IMPL_SSE 1 // SSE
// Template implementation of ICollide
-#ifdef WIN32
+#ifdef _WIN32
#if (defined (_MSC_VER) && _MSC_VER >= 1400)
#define DBVT_USE_TEMPLATE 1
#else
@@ -57,7 +57,7 @@
// Specific methods implementation
//SSE gives errors on a MSVC 7.1
-#ifdef BT_USE_SSE
+#if defined (BT_USE_SSE) && defined (_WIN32)
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#define DBVT_INT0_IMPL DBVT_IMPL_SSE
@@ -92,7 +92,7 @@
#endif
#if DBVT_USE_MEMMOVE
-#ifndef __CELLOS_LV2__
+#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>
@@ -484,8 +484,8 @@
case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z());
pi=btVector3(mi.x(),mi.y(),mi.z());break;
}
- if((dot(n,px)+o)<0) return(-1);
- if((dot(n,pi)+o)>=0) return(+1);
+ if((btDot(n,px)+o)<0) return(-1);
+ if((btDot(n,pi)+o)>=0) return(+1);
return(0);
}
@@ -496,7 +496,7 @@
const btVector3 p( b[(signs>>0)&1]->x(),
b[(signs>>1)&1]->y(),
b[(signs>>2)&1]->z());
- return(dot(p,v));
+ return(btDot(p,v));
}
//
@@ -947,6 +947,7 @@
const btVector3& aabbMax,
DBVT_IPOLICY) const
{
+ (void) rayTo;
DBVT_CHECKTYPE
if(root)
{
@@ -961,8 +962,8 @@
do
{
const btDbvtNode* node=stack[--depth];
- bounds[0] = node->volume.Mins()+aabbMin;
- bounds[1] = node->volume.Maxs()+aabbMax;
+ bounds[0] = node->volume.Mins()-aabbMax;
+ bounds[1] = node->volume.Maxs()-aabbMin;
btScalar tmin=1.f,lambda_min=0.f;
unsigned int result1=false;
result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
@@ -1000,11 +1001,11 @@
btVector3 rayDir = (rayTo-rayFrom);
rayDir.normalize ();
- ///what about division by zero? --> just set rayDirection[i] to INF/1e30
+ ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
btVector3 rayDirectionInverse;
- rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
- rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
- rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+ rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
+ rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
+ rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
btScalar lambda_max = rayDir.dot(rayTo-rayFrom);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@
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.
*/
+
///btDbvtBroadphase implementation by Nathanael Presson
#include "btDbvtBroadphase.h"
@@ -123,7 +124,7 @@
m_deferedcollide = false;
m_needcleanup = true;
m_releasepaircache = (paircache!=0)?false:true;
- m_prediction = 1/(btScalar)2;
+ m_prediction = 0;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;
@@ -249,6 +250,34 @@
}
+
+struct BroadphaseAabbTester : btDbvt::ICollide
+{
+ btBroadphaseAabbCallback& m_aabbCallback;
+ BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
+ :m_aabbCallback(orgCallback)
+ {
+ }
+ void Process(const btDbvtNode* leaf)
+ {
+ btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
+ m_aabbCallback.process(proxy);
+ }
+};
+
+void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
+{
+ BroadphaseAabbTester callback(aabbCallback);
+
+ const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
+ //process all children, that overlap with the given AABB bounds
+ m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
+ m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
+
+}
+
+
+
//
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
@@ -316,7 +345,48 @@
}
}
+
//
+void btDbvtBroadphase::setAabbForceUpdate( btBroadphaseProxy* absproxy,
+ const btVector3& aabbMin,
+ const btVector3& aabbMax,
+ btDispatcher* /*dispatcher*/)
+{
+ btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
+ ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+ bool docollide=false;
+ if(proxy->stage==STAGECOUNT)
+ {/* fixed -> dynamic set */
+ m_sets[1].remove(proxy->leaf);
+ proxy->leaf=m_sets[0].insert(aabb,proxy);
+ docollide=true;
+ }
+ else
+ {/* dynamic set */
+ ++m_updates_call;
+ /* Teleporting */
+ m_sets[0].update(proxy->leaf,aabb);
+ ++m_updates_done;
+ docollide=true;
+ }
+ listremove(proxy,m_stageRoots[proxy->stage]);
+ proxy->m_aabbMin = aabbMin;
+ proxy->m_aabbMax = aabbMax;
+ proxy->stage = m_stageCurrent;
+ listappend(proxy,m_stageRoots[m_stageCurrent]);
+ if(docollide)
+ {
+ m_needcleanup=true;
+ if(!m_deferedcollide)
+ {
+ btDbvtTreeCollider collider(this);
+ m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
+ m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+ }
+ }
+}
+
+//
void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
collide(dispatcher);
@@ -571,7 +641,6 @@
m_deferedcollide = false;
m_needcleanup = true;
- m_prediction = 1/(btScalar)2;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@
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.
*/
+
///btDbvtBroadphase implementation by Nathanael Presson
#ifndef BT_DBVT_BROADPHASE_H
#define BT_DBVT_BROADPHASE_H
@@ -101,26 +102,45 @@
~btDbvtBroadphase();
void collide(btDispatcher* dispatcher);
void optimize();
- /* btBroadphaseInterface Implementation */
+
+ /* btBroadphaseInterface Implementation */
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
- void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
- void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
- virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
+ virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+ virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+ virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
+ virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
- virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
- void calculateOverlappingPairs(btDispatcher* dispatcher);
- btOverlappingPairCache* getOverlappingPairCache();
- const btOverlappingPairCache* getOverlappingPairCache() const;
- void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
- void printStats();
- static void benchmark(btBroadphaseInterface*);
+ virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+ virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
+ virtual btOverlappingPairCache* getOverlappingPairCache();
+ virtual const btOverlappingPairCache* getOverlappingPairCache() const;
+ virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
+ virtual void printStats();
- void performDeferredRemoval(btDispatcher* dispatcher);
-
///reset broadphase internal structures, to ensure determinism/reproducability
virtual void resetPool(btDispatcher* dispatcher);
+ void performDeferredRemoval(btDispatcher* dispatcher);
+
+ void setVelocityPrediction(btScalar prediction)
+ {
+ m_prediction = prediction;
+ }
+ btScalar getVelocityPrediction() const
+ {
+ return m_prediction;
+ }
+
+ ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
+ ///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
+ ///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
+ ///http://code.google.com/p/bullet/issues/detail?id=223
+ void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
+
+ static void benchmark(btBroadphaseInterface*);
+
+
};
#endif
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -46,8 +46,9 @@
m_enableSPU(true),
m_useEpa(true),
m_allowedCcdPenetration(btScalar(0.04)),
- m_useConvexConservativeDistanceUtil(true),
+ m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
+ m_convexMaxDistanceUseCPT(false),
m_stackAllocator(0)
{
@@ -64,6 +65,7 @@
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
+ bool m_convexMaxDistanceUseCPT;
btStackAlloc* m_stackAllocator;
};
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -133,8 +133,8 @@
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
- aabbMin.setValue(-1e30f,-1e30f,-1e30f);
- aabbMax.setValue(1e30f,1e30f,1e30f);
+ aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+ aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -240,7 +240,7 @@
}*/
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
- void* mem = &m_overlappingPairArray.expand();
+ void* mem = &m_overlappingPairArray.expandNonInitializing();
//this is where we add an actual pair, so also call the 'ghost'
if (m_ghostPairCallback)
@@ -467,7 +467,7 @@
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
- void* mem = &m_overlappingPairArray.expand();
+ void* mem = &m_overlappingPairArray.expandNonInitializing();
btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
gOverlappingPairs++;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -457,6 +457,7 @@
virtual void sortOverlappingPairs(btDispatcher* dispatcher)
{
+ (void) dispatcher;
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -17,6 +17,7 @@
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btSerializer.h"
#define RAYAABB2
@@ -78,10 +79,10 @@
#ifdef DEBUG_PATCH_COLORS
btVector3 color[4]=
{
- btVector3(255,0,0),
- btVector3(0,255,0),
- btVector3(0,0,255),
- btVector3(0,255,255)
+ btVector3(1,0,0),
+ btVector3(0,1,0),
+ btVector3(0,0,1),
+ btVector3(0,1,1)
};
#endif //DEBUG_PATCH_COLORS
@@ -474,9 +475,9 @@
lambda_max = rayDir.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
btVector3 rayDirectionInverse;
- rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
- rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
- rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+ rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
+ rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
+ rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
#endif
@@ -493,8 +494,8 @@
bounds[0] = rootNode->m_aabbMinOrg;
bounds[1] = rootNode->m_aabbMaxOrg;
/* Add box cast extents */
- bounds[0] += aabbMin;
- bounds[1] += aabbMax;
+ bounds[0] -= aabbMax;
+ bounds[1] -= aabbMin;
aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
//perhaps profile if it is worth doing the aabbOverlap test first
@@ -561,9 +562,9 @@
rayDirection.normalize ();
lambda_max = rayDirection.dot(rayTarget-raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
- rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[0];
- rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[1];
- rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDirection[2];
+ rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
+ rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
+ rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
#endif
@@ -617,8 +618,8 @@
bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
/* Add box cast extents */
- bounds[0] += aabbMin;
- bounds[1] += aabbMax;
+ bounds[0] -= aabbMax;
+ bounds[1] -= aabbMin;
btVector3 normal;
#if 0
bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
@@ -830,7 +831,7 @@
return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
}
-unsigned btQuantizedBvh::calculateSerializeBufferSize()
+unsigned btQuantizedBvh::calculateSerializeBufferSize() const
{
unsigned baseSize = sizeof(btQuantizedBvh) + getAlignmentSerializationPadding();
baseSize += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
@@ -841,7 +842,7 @@
return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
}
-bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
+bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
{
btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
m_subtreeHeaderCount = m_SubtreeHeaders.size();
@@ -1143,6 +1144,232 @@
}
+void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData)
+{
+ m_bvhAabbMax.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMax);
+ m_bvhAabbMin.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMin);
+ m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
+ m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
+ m_useQuantization = quantizedBvhFloatData.m_useQuantization!=0;
+
+ {
+ int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
+ m_contiguousNodes.resize(numElem);
+ if (numElem)
+ {
+ btOptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
+ m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
+ m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
+ m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
+ m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
+ }
+ }
+ }
+
+ {
+ int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
+ m_quantizedContiguousNodes.resize(numElem);
+
+ if (numElem)
+ {
+ btQuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
+ m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
+ }
+ }
+ }
+
+ m_traversalMode = btTraversalMode(quantizedBvhFloatData.m_traversalMode);
+
+ {
+ int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
+ m_SubtreeHeaders.resize(numElem);
+ if (numElem)
+ {
+ btBvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+ m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
+ m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
+ m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
+ m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
+ m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
+ m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
+ m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
+ }
+ }
+ }
+}
+
+void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData)
+{
+ m_bvhAabbMax.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMax);
+ m_bvhAabbMin.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMin);
+ m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
+
+ m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
+ m_useQuantization = quantizedBvhDoubleData.m_useQuantization!=0;
+
+ {
+ int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
+ m_contiguousNodes.resize(numElem);
+
+ if (numElem)
+ {
+ btOptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
+
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
+ m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
+ m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
+ m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
+ m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
+ }
+ }
+ }
+
+ {
+ int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
+ m_quantizedContiguousNodes.resize(numElem);
+
+ if (numElem)
+ {
+ btQuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
+ m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
+ m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
+ }
+ }
+ }
+
+ m_traversalMode = btTraversalMode(quantizedBvhDoubleData.m_traversalMode);
+
+ {
+ int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
+ m_SubtreeHeaders.resize(numElem);
+ if (numElem)
+ {
+ btBvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+ m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
+ m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
+ m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
+ m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
+ m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
+ m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
+ m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
+ }
+ }
+ }
+
+}
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btQuantizedBvhData* quantizedData = (btQuantizedBvhData*)dataBuffer;
+
+ m_bvhAabbMax.serialize(quantizedData->m_bvhAabbMax);
+ m_bvhAabbMin.serialize(quantizedData->m_bvhAabbMin);
+ m_bvhQuantization.serialize(quantizedData->m_bvhQuantization);
+
+ quantizedData->m_curNodeIndex = m_curNodeIndex;
+ quantizedData->m_useQuantization = m_useQuantization;
+
+ quantizedData->m_numContiguousLeafNodes = m_contiguousNodes.size();
+ quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*) (m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
+ if (quantizedData->m_contiguousNodesPtr)
+ {
+ int sz = sizeof(btOptimizedBvhNodeData);
+ int numElem = m_contiguousNodes.size();
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ btOptimizedBvhNodeData* memPtr = (btOptimizedBvhNodeData*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_contiguousNodes[i].m_aabbMaxOrg.serialize(memPtr->m_aabbMaxOrg);
+ m_contiguousNodes[i].m_aabbMinOrg.serialize(memPtr->m_aabbMinOrg);
+ memPtr->m_escapeIndex = m_contiguousNodes[i].m_escapeIndex;
+ memPtr->m_subPart = m_contiguousNodes[i].m_subPart;
+ memPtr->m_triangleIndex = m_contiguousNodes[i].m_triangleIndex;
+ }
+ serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]);
+ }
+
+ quantizedData->m_numQuantizedContiguousNodes = m_quantizedContiguousNodes.size();
+// printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
+ quantizedData->m_quantizedContiguousNodesPtr =(btQuantizedBvhNodeData*) (m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
+ if (quantizedData->m_quantizedContiguousNodesPtr)
+ {
+ int sz = sizeof(btQuantizedBvhNodeData);
+ int numElem = m_quantizedContiguousNodes.size();
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ btQuantizedBvhNodeData* memPtr = (btQuantizedBvhNodeData*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ memPtr->m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex;
+ memPtr->m_quantizedAabbMax[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[0];
+ memPtr->m_quantizedAabbMax[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[1];
+ memPtr->m_quantizedAabbMax[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[2];
+ memPtr->m_quantizedAabbMin[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[0];
+ memPtr->m_quantizedAabbMin[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[1];
+ memPtr->m_quantizedAabbMin[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[2];
+ }
+ serializer->finalizeChunk(chunk,"btQuantizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_quantizedContiguousNodes[0]);
+ }
+
+ quantizedData->m_traversalMode = int(m_traversalMode);
+ quantizedData->m_numSubtreeHeaders = m_SubtreeHeaders.size();
+
+ quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*) (m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
+ if (quantizedData->m_subTreeInfoPtr)
+ {
+ int sz = sizeof(btBvhSubtreeInfoData);
+ int numElem = m_SubtreeHeaders.size();
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ btBvhSubtreeInfoData* memPtr = (btBvhSubtreeInfoData*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ memPtr->m_quantizedAabbMax[0] = m_SubtreeHeaders[i].m_quantizedAabbMax[0];
+ memPtr->m_quantizedAabbMax[1] = m_SubtreeHeaders[i].m_quantizedAabbMax[1];
+ memPtr->m_quantizedAabbMax[2] = m_SubtreeHeaders[i].m_quantizedAabbMax[2];
+ memPtr->m_quantizedAabbMin[0] = m_SubtreeHeaders[i].m_quantizedAabbMin[0];
+ memPtr->m_quantizedAabbMin[1] = m_SubtreeHeaders[i].m_quantizedAabbMin[1];
+ memPtr->m_quantizedAabbMin[2] = m_SubtreeHeaders[i].m_quantizedAabbMin[2];
+
+ memPtr->m_rootNodeIndex = m_SubtreeHeaders[i].m_rootNodeIndex;
+ memPtr->m_subtreeSize = m_SubtreeHeaders[i].m_subtreeSize;
+ }
+ serializer->finalizeChunk(chunk,"btBvhSubtreeInfoData",BT_ARRAY_CODE,(void*)&m_SubtreeHeaders[0]);
+ }
+ return btQuantizedBvhDataName;
+}
+
+
+
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -16,6 +16,8 @@
#ifndef QUANTIZED_BVH_H
#define QUANTIZED_BVH_H
+class btSerializer;
+
//#define DEBUG_CHECK_DEQUANTIZATION 1
#ifdef DEBUG_CHECK_DEQUANTIZATION
#ifdef __SPU__
@@ -29,7 +31,18 @@
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btQuantizedBvhData btQuantizedBvhDoubleData
+#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
+#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
+#else
+#define btQuantizedBvhData btQuantizedBvhFloatData
+#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
+#define btQuantizedBvhDataName "btQuantizedBvhFloatData"
+#endif
+
+
//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
@@ -190,7 +203,7 @@
BvhSubtreeInfoArray m_SubtreeHeaders;
//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
- int m_subtreeHeaderCount;
+ mutable int m_subtreeHeaderCount;
@@ -443,18 +456,33 @@
return m_SubtreeHeaders;
}
+////////////////////////////////////////////////////////////////////
/////Calculate space needed to store BVH for serialization
- unsigned calculateSerializeBufferSize();
+ unsigned calculateSerializeBufferSize() const;
/// Data buffer MUST be 16 byte aligned
- virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
+ virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
static unsigned int getAlignmentSerializationPadding();
+//////////////////////////////////////////////////////////////////////
+
+ virtual int calculateSerializeBufferSizeNew() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+ virtual void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
+
+ virtual void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
+
+
+////////////////////////////////////////////////////////////////////
+
SIMD_FORCE_INLINE bool isQuantized()
{
return m_useQuantization;
@@ -470,4 +498,82 @@
;
+struct btBvhSubtreeInfoData
+{
+ int m_rootNodeIndex;
+ int m_subtreeSize;
+ unsigned short m_quantizedAabbMin[3];
+ unsigned short m_quantizedAabbMax[3];
+};
+
+struct btOptimizedBvhNodeFloatData
+{
+ btVector3FloatData m_aabbMinOrg;
+ btVector3FloatData m_aabbMaxOrg;
+ int m_escapeIndex;
+ int m_subPart;
+ int m_triangleIndex;
+ char m_pad[4];
+};
+
+struct btOptimizedBvhNodeDoubleData
+{
+ btVector3DoubleData m_aabbMinOrg;
+ btVector3DoubleData m_aabbMaxOrg;
+ int m_escapeIndex;
+ int m_subPart;
+ int m_triangleIndex;
+ char m_pad[4];
+};
+
+
+struct btQuantizedBvhNodeData
+{
+ unsigned short m_quantizedAabbMin[3];
+ unsigned short m_quantizedAabbMax[3];
+ int m_escapeIndexOrTriangleIndex;
+};
+
+struct btQuantizedBvhFloatData
+{
+ btVector3FloatData m_bvhAabbMin;
+ btVector3FloatData m_bvhAabbMax;
+ btVector3FloatData m_bvhQuantization;
+ int m_curNodeIndex;
+ int m_useQuantization;
+ int m_numContiguousLeafNodes;
+ int m_numQuantizedContiguousNodes;
+ btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
+ btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+ btBvhSubtreeInfoData *m_subTreeInfoPtr;
+ int m_traversalMode;
+ int m_numSubtreeHeaders;
+
+};
+
+struct btQuantizedBvhDoubleData
+{
+ btVector3DoubleData m_bvhAabbMin;
+ btVector3DoubleData m_bvhAabbMax;
+ btVector3DoubleData m_bvhQuantization;
+ int m_curNodeIndex;
+ int m_useQuantization;
+ int m_numContiguousLeafNodes;
+ int m_numQuantizedContiguousNodes;
+ btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
+ btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+
+ int m_traversalMode;
+ int m_numSubtreeHeaders;
+ btBvhSubtreeInfoData *m_subTreeInfoPtr;
+};
+
+
+SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
+{
+ return sizeof(btQuantizedBvhData);
+}
+
+
+
#endif //QUANTIZED_BVH_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,6 +20,8 @@
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btAabbUtil2.h"
+
#include <new>
extern int gOverlappingPairs;
@@ -166,7 +168,24 @@
}
+void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
+{
+ for (int i=0; i <= m_LastHandleIndex; i++)
+ {
+ btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
+ if(!proxy->m_clientObject)
+ {
+ continue;
+ }
+ if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
+ {
+ callback.process(proxy);
+ }
+ }
+}
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -136,6 +136,7 @@
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
+ virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
btOverlappingPairCache* getOverlappingPairCache()
{
@@ -153,8 +154,8 @@
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
- aabbMin.setValue(-1e30f,-1e30f,-1e30f);
- aabbMax.setValue(1e30f,1e30f,1e30f);
+ aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+ aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
}
virtual void printStats()
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -5,36 +5,41 @@
BroadphaseCollision/btAxisSweep3.cpp
BroadphaseCollision/btBroadphaseProxy.cpp
BroadphaseCollision/btCollisionAlgorithm.cpp
- BroadphaseCollision/btDispatcher.cpp
- BroadphaseCollision/btDbvtBroadphase.cpp
BroadphaseCollision/btDbvt.cpp
+ BroadphaseCollision/btDbvtBroadphase.cpp
+ BroadphaseCollision/btDispatcher.cpp
BroadphaseCollision/btMultiSapBroadphase.cpp
BroadphaseCollision/btOverlappingPairCache.cpp
BroadphaseCollision/btQuantizedBvh.cpp
BroadphaseCollision/btSimpleBroadphase.cpp
CollisionDispatch/btActivatingCollisionAlgorithm.cpp
+ CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+ CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+ CollisionDispatch/btBoxBoxDetector.cpp
CollisionDispatch/btCollisionDispatcher.cpp
CollisionDispatch/btCollisionObject.cpp
CollisionDispatch/btCollisionWorld.cpp
CollisionDispatch/btCompoundCollisionAlgorithm.cpp
CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
- CollisionDispatch/btDefaultCollisionConfiguration.cpp
- CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
- CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
- CollisionDispatch/btBoxBoxDetector.cpp
- CollisionDispatch/btGhostObject.cpp
- CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
- CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
- CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
CollisionDispatch/btConvexConvexAlgorithm.cpp
+ CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+ CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+ CollisionDispatch/btDefaultCollisionConfiguration.cpp
CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+ CollisionDispatch/btGhostObject.cpp
+ CollisionDispatch/btInternalEdgeUtility.cpp
+ CollisionDispatch/btInternalEdgeUtility.h
CollisionDispatch/btManifoldResult.cpp
CollisionDispatch/btSimulationIslandManager.cpp
+ CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+ CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+ CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
CollisionDispatch/btUnionFind.cpp
CollisionDispatch/SphereTriangleDetector.cpp
CollisionShapes/btBoxShape.cpp
+ CollisionShapes/btBox2dShape.cpp
CollisionShapes/btBvhTriangleMeshShape.cpp
CollisionShapes/btCapsuleShape.cpp
CollisionShapes/btCollisionShape.cpp
@@ -42,9 +47,10 @@
CollisionShapes/btConcaveShape.cpp
CollisionShapes/btConeShape.cpp
CollisionShapes/btConvexHullShape.cpp
+ CollisionShapes/btConvexInternalShape.cpp
CollisionShapes/btConvexPointCloudShape.cpp
CollisionShapes/btConvexShape.cpp
- CollisionShapes/btConvexInternalShape.cpp
+ CollisionShapes/btConvex2dShape.cpp
CollisionShapes/btConvexTriangleMeshShape.cpp
CollisionShapes/btCylinderShape.cpp
CollisionShapes/btEmptyShape.cpp
@@ -55,32 +61,24 @@
CollisionShapes/btOptimizedBvh.cpp
CollisionShapes/btPolyhedralConvexShape.cpp
CollisionShapes/btScaledBvhTriangleMeshShape.cpp
- CollisionShapes/btTetrahedronShape.cpp
- CollisionShapes/btSphereShape.cpp
CollisionShapes/btShapeHull.cpp
+ CollisionShapes/btSphereShape.cpp
CollisionShapes/btStaticPlaneShape.cpp
CollisionShapes/btStridingMeshInterface.cpp
- CollisionShapes/btTriangleCallback.cpp
+ CollisionShapes/btTetrahedronShape.cpp
CollisionShapes/btTriangleBuffer.cpp
+ CollisionShapes/btTriangleCallback.cpp
CollisionShapes/btTriangleIndexVertexArray.cpp
CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
CollisionShapes/btTriangleMesh.cpp
CollisionShapes/btTriangleMeshShape.cpp
CollisionShapes/btUniformScalingShape.cpp
- Gimpact/btContactProcessing.cpp
- Gimpact/btGImpactShape.cpp
- Gimpact/btGImpactBvh.cpp
- Gimpact/btGenericPoolAllocator.cpp
- Gimpact/btGImpactCollisionAlgorithm.cpp
- Gimpact/btTriangleShapeEx.cpp
- Gimpact/btGImpactQuantizedBvh.cpp
-
NarrowPhaseCollision/btContinuousConvexCollision.cpp
- NarrowPhaseCollision/btGjkEpa2.cpp
- NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
NarrowPhaseCollision/btConvexCast.cpp
NarrowPhaseCollision/btGjkConvexCast.cpp
+ NarrowPhaseCollision/btGjkEpa2.cpp
+ NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
NarrowPhaseCollision/btGjkPairDetector.cpp
NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
NarrowPhaseCollision/btPersistentManifold.cpp
@@ -90,21 +88,14 @@
COMPILATION_END
-COMPILATION_BEGIN BulletGImpactCompilation.cpp
- Gimpact/gim_contact.cpp
- Gimpact/gim_memory.cpp
- Gimpact/gim_tri_collision.cpp
- Gimpact/gim_box_set.cpp
-COMPILATION_END
-
# Headers
BroadphaseCollision/btAxisSweep3.h
BroadphaseCollision/btBroadphaseInterface.h
BroadphaseCollision/btBroadphaseProxy.h
BroadphaseCollision/btCollisionAlgorithm.h
- BroadphaseCollision/btDispatcher.h
- BroadphaseCollision/btDbvtBroadphase.h
BroadphaseCollision/btDbvt.h
+ BroadphaseCollision/btDbvtBroadphase.h
+ BroadphaseCollision/btDispatcher.h
BroadphaseCollision/btMultiSapBroadphase.h
BroadphaseCollision/btOverlappingPairCache.h
BroadphaseCollision/btOverlappingPairCallback.h
@@ -112,6 +103,9 @@
BroadphaseCollision/btSimpleBroadphase.h
CollisionDispatch/btActivatingCollisionAlgorithm.h
+ CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+ CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+ CollisionDispatch/btBoxBoxDetector.h
CollisionDispatch/btCollisionConfiguration.h
CollisionDispatch/btCollisionCreateFunc.h
CollisionDispatch/btCollisionDispatcher.h
@@ -119,68 +113,60 @@
CollisionDispatch/btCollisionWorld.h
CollisionDispatch/btCompoundCollisionAlgorithm.h
CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
- CollisionDispatch/btDefaultCollisionConfiguration.h
- CollisionDispatch/btSphereSphereCollisionAlgorithm.h
- CollisionDispatch/btBoxBoxCollisionAlgorithm.h
- CollisionDispatch/btBoxBoxDetector.h
- CollisionDispatch/btGhostObject.h
- CollisionDispatch/btSphereBoxCollisionAlgorithm.h
- CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
- CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
CollisionDispatch/btConvexConvexAlgorithm.h
+ CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+ CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+ CollisionDispatch/btDefaultCollisionConfiguration.h
CollisionDispatch/btEmptyCollisionAlgorithm.h
+ CollisionDispatch/btGhostObject.h
CollisionDispatch/btManifoldResult.h
CollisionDispatch/btSimulationIslandManager.h
+ CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+ CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+ CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
CollisionDispatch/btUnionFind.h
CollisionDispatch/SphereTriangleDetector.h
CollisionShapes/btBoxShape.h
+ CollisionShapes/btBox2dShape.h
CollisionShapes/btBvhTriangleMeshShape.h
CollisionShapes/btCapsuleShape.h
- CollisionShapes/btCollisionMargin
+ CollisionShapes/btCollisionMargin.h
CollisionShapes/btCollisionShape.h
CollisionShapes/btCompoundShape.h
CollisionShapes/btConcaveShape.h
CollisionShapes/btConeShape.h
CollisionShapes/btConvexHullShape.h
+ CollisionShapes/btConvexInternalShape.h
CollisionShapes/btConvexPointCloudShape.h
CollisionShapes/btConvexShape.h
- CollisionShapes/btConvexInternalShape.h
+ CollisionShapes/btConvex2dShape.h
CollisionShapes/btConvexTriangleMeshShape.h
CollisionShapes/btCylinderShape.h
CollisionShapes/btEmptyShape.h
CollisionShapes/btHeightfieldTerrainShape.h
- CollisionShapes/btMinkowskiSumShape.h
CollisionShapes/btMaterial.h
+ CollisionShapes/btMinkowskiSumShape.h
CollisionShapes/btMultimaterialTriangleMeshShape.h
CollisionShapes/btMultiSphereShape.h
CollisionShapes/btOptimizedBvh.h
CollisionShapes/btPolyhedralConvexShape.h
CollisionShapes/btScaledBvhTriangleMeshShape.h
- CollisionShapes/btTetrahedronShape.h
- CollisionShapes/btSphereShape.h
CollisionShapes/btShapeHull.h
+ CollisionShapes/btSphereShape.h
CollisionShapes/btStaticPlaneShape.h
CollisionShapes/btStridingMeshInterface.h
- CollisionShapes/btTriangleCallback.h
+ CollisionShapes/btTetrahedronShape.h
CollisionShapes/btTriangleBuffer.h
+ CollisionShapes/btTriangleCallback.h
CollisionShapes/btTriangleIndexVertexArray.h
CollisionShapes/btTriangleIndexVertexMaterialArray.h
+ CollisionShapes/btTriangleInfoMap.h
CollisionShapes/btTriangleMesh.h
CollisionShapes/btTriangleMeshShape.h
+ CollisionShapes/btTriangleShape.h
CollisionShapes/btUniformScalingShape.h
- Gimpact/btGImpactShape.h
- Gimpact/gim_contact.h
- Gimpact/btGImpactBvh.h
- Gimpact/btGenericPoolAllocator.h
- Gimpact/gim_memory.h
- Gimpact/btGImpactCollisionAlgorithm.h
- Gimpact/btTriangleShapeEx.h
- Gimpact/gim_tri_collision.h
- Gimpact/btGImpactQuantizedBvh.h
- Gimpact/gim_box_set.h
-
NarrowPhaseCollision/btContinuousConvexCollision.h
NarrowPhaseCollision/btConvexCast.h
NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -37,7 +37,7 @@
btVector3 point,normal;
btScalar timeOfImpact = btScalar(1.);
btScalar depth = btScalar(0.);
-// output.m_distance = btScalar(1e30);
+// output.m_distance = btScalar(BT_LARGE_FLOAT);
//move sphere into triangle space
btTransform sphereInTr = transformB.inverseTimes(transformA);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -34,9 +34,11 @@
virtual ~SphereTriangleDetector() {};
+ bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
+
private:
- bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
+
bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,435 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
+
+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.
+*/
+
+///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
+///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
+
+#include "btBox2dBox2dCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
+#include "BulletCollision/CollisionShapes/btBox2dShape.h"
+
+#define USE_PERSISTENT_CONTACTS 1
+
+btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
+: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+m_ownManifold(false),
+m_manifoldPtr(mf)
+{
+ if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
+ {
+ m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
+ m_ownManifold = true;
+ }
+}
+
+btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
+{
+
+ if (m_ownManifold)
+ {
+ if (m_manifoldPtr)
+ m_dispatcher->releaseManifold(m_manifoldPtr);
+ }
+
+}
+
+
+void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
+
+//#include <stdio.h>
+void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+ if (!m_manifoldPtr)
+ return;
+
+ btCollisionObject* col0 = body0;
+ btCollisionObject* col1 = body1;
+ btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
+ btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
+
+ resultOut->setPersistentManifold(m_manifoldPtr);
+
+ b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
+
+ // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
+ if (m_ownManifold)
+ {
+ resultOut->refreshContactPoints();
+ }
+
+}
+
+btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+{
+ //not yet
+ return 1.f;
+}
+
+
+struct ClipVertex
+{
+ btVector3 v;
+ int id;
+ //b2ContactID id;
+ //b2ContactID id;
+};
+
+#define b2Dot(a,b) (a).dot(b)
+#define b2Mul(a,b) (a)*(b)
+#define b2MulT(a,b) (a).transpose()*(b)
+#define b2Cross(a,b) (a).cross(b)
+#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
+
+int b2_maxManifoldPoints =2;
+
+static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
+ const btVector3& normal, btScalar offset)
+{
+ // Start with no output points
+ int numOut = 0;
+
+ // Calculate the distance of end points to the line
+ btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
+ btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
+
+ // If the points are behind the plane
+ if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
+ if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
+
+ // If the points are on different sides of the plane
+ if (distance0 * distance1 < 0.0f)
+ {
+ // Find intersection point of edge and plane
+ btScalar interp = distance0 / (distance0 - distance1);
+ vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
+ if (distance0 > 0.0f)
+ {
+ vOut[numOut].id = vIn[0].id;
+ }
+ else
+ {
+ vOut[numOut].id = vIn[1].id;
+ }
+ ++numOut;
+ }
+
+ return numOut;
+}
+
+// Find the separation between poly1 and poly2 for a give edge normal on poly1.
+static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
+ const btBox2dShape* poly2, const btTransform& xf2)
+{
+ const btVector3* vertices1 = poly1->getVertices();
+ const btVector3* normals1 = poly1->getNormals();
+
+ int count2 = poly2->getVertexCount();
+ const btVector3* vertices2 = poly2->getVertices();
+
+ btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
+
+ // Convert normal from poly1's frame into poly2's frame.
+ btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
+ btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
+
+ // Find support vertex on poly2 for -normal.
+ int index = 0;
+ btScalar minDot = BT_LARGE_FLOAT;
+
+ for (int i = 0; i < count2; ++i)
+ {
+ btScalar dot = b2Dot(vertices2[i], normal1);
+ if (dot < minDot)
+ {
+ minDot = dot;
+ index = i;
+ }
+ }
+
+ btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
+ btVector3 v2 = b2Mul(xf2, vertices2[index]);
+ btScalar separation = b2Dot(v2 - v1, normal1World);
+ return separation;
+}
+
+// Find the max separation between poly1 and poly2 using edge normals from poly1.
+static btScalar FindMaxSeparation(int* edgeIndex,
+ const btBox2dShape* poly1, const btTransform& xf1,
+ const btBox2dShape* poly2, const btTransform& xf2)
+{
+ int count1 = poly1->getVertexCount();
+ const btVector3* normals1 = poly1->getNormals();
+
+ // Vector pointing from the centroid of poly1 to the centroid of poly2.
+ btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
+ btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
+
+ // Find edge normal on poly1 that has the largest projection onto d.
+ int edge = 0;
+ btScalar maxDot = -BT_LARGE_FLOAT;
+ for (int i = 0; i < count1; ++i)
+ {
+ btScalar dot = b2Dot(normals1[i], dLocal1);
+ if (dot > maxDot)
+ {
+ maxDot = dot;
+ edge = i;
+ }
+ }
+
+ // Get the separation for the edge normal.
+ btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+ if (s > 0.0f)
+ {
+ return s;
+ }
+
+ // Check the separation for the previous edge normal.
+ int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
+ btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
+ if (sPrev > 0.0f)
+ {
+ return sPrev;
+ }
+
+ // Check the separation for the next edge normal.
+ int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
+ btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
+ if (sNext > 0.0f)
+ {
+ return sNext;
+ }
+
+ // Find the best edge and the search direction.
+ int bestEdge;
+ btScalar bestSeparation;
+ int increment;
+ if (sPrev > s && sPrev > sNext)
+ {
+ increment = -1;
+ bestEdge = prevEdge;
+ bestSeparation = sPrev;
+ }
+ else if (sNext > s)
+ {
+ increment = 1;
+ bestEdge = nextEdge;
+ bestSeparation = sNext;
+ }
+ else
+ {
+ *edgeIndex = edge;
+ return s;
+ }
+
+ // Perform a local search for the best edge normal.
+ for ( ; ; )
+ {
+ if (increment == -1)
+ edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
+ else
+ edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
+
+ s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+ if (s > 0.0f)
+ {
+ return s;
+ }
+
+ if (s > bestSeparation)
+ {
+ bestEdge = edge;
+ bestSeparation = s;
+ }
+ else
+ {
+ break;
+ }
+ }
+
+ *edgeIndex = bestEdge;
+ return bestSeparation;
+}
+
+static void FindIncidentEdge(ClipVertex c[2],
+ const btBox2dShape* poly1, const btTransform& xf1, int edge1,
+ const btBox2dShape* poly2, const btTransform& xf2)
+{
+ const btVector3* normals1 = poly1->getNormals();
+
+ int count2 = poly2->getVertexCount();
+ const btVector3* vertices2 = poly2->getVertices();
+ const btVector3* normals2 = poly2->getNormals();
+
+ btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
+
+ // Get the normal of the reference edge in poly2's frame.
+ btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
+
+ // Find the incident edge on poly2.
+ int index = 0;
+ btScalar minDot = BT_LARGE_FLOAT;
+ for (int i = 0; i < count2; ++i)
+ {
+ btScalar dot = b2Dot(normal1, normals2[i]);
+ if (dot < minDot)
+ {
+ minDot = dot;
+ index = i;
+ }
+ }
+
+ // Build the clip vertices for the incident edge.
+ int i1 = index;
+ int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
+
+ c[0].v = b2Mul(xf2, vertices2[i1]);
+// c[0].id.features.referenceEdge = (unsigned char)edge1;
+// c[0].id.features.incidentEdge = (unsigned char)i1;
+// c[0].id.features.incidentVertex = 0;
+
+ c[1].v = b2Mul(xf2, vertices2[i2]);
+// c[1].id.features.referenceEdge = (unsigned char)edge1;
+// c[1].id.features.incidentEdge = (unsigned char)i2;
+// c[1].id.features.incidentVertex = 1;
+}
+
+// Find edge normal of max separation on A - return if separating axis is found
+// Find edge normal of max separation on B - return if separation axis is found
+// Choose reference edge as min(minA, minB)
+// Find incident edge
+// Clip
+
+// The normal points from 1 to 2
+void b2CollidePolygons(btManifoldResult* manifold,
+ const btBox2dShape* polyA, const btTransform& xfA,
+ const btBox2dShape* polyB, const btTransform& xfB)
+{
+
+ int edgeA = 0;
+ btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
+ if (separationA > 0.0f)
+ return;
+
+ int edgeB = 0;
+ btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
+ if (separationB > 0.0f)
+ return;
+
+ const btBox2dShape* poly1; // reference poly
+ const btBox2dShape* poly2; // incident poly
+ btTransform xf1, xf2;
+ int edge1; // reference edge
+ unsigned char flip;
+ const btScalar k_relativeTol = 0.98f;
+ const btScalar k_absoluteTol = 0.001f;
+
+ // TODO_ERIN use "radius" of poly for absolute tolerance.
+ if (separationB > k_relativeTol * separationA + k_absoluteTol)
+ {
+ poly1 = polyB;
+ poly2 = polyA;
+ xf1 = xfB;
+ xf2 = xfA;
+ edge1 = edgeB;
+ flip = 1;
+ }
+ else
+ {
+ poly1 = polyA;
+ poly2 = polyB;
+ xf1 = xfA;
+ xf2 = xfB;
+ edge1 = edgeA;
+ flip = 0;
+ }
+
+ ClipVertex incidentEdge[2];
+ FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
+
+ int count1 = poly1->getVertexCount();
+ const btVector3* vertices1 = poly1->getVertices();
+
+ btVector3 v11 = vertices1[edge1];
+ btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
+
+ btVector3 dv = v12 - v11;
+ btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
+ sideNormal.normalize();
+ btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
+
+
+ v11 = b2Mul(xf1, v11);
+ v12 = b2Mul(xf1, v12);
+
+ btScalar frontOffset = b2Dot(frontNormal, v11);
+ btScalar sideOffset1 = -b2Dot(sideNormal, v11);
+ btScalar sideOffset2 = b2Dot(sideNormal, v12);
+
+ // Clip incident edge against extruded edge1 side edges.
+ ClipVertex clipPoints1[2];
+ clipPoints1[0].v.setValue(0,0,0);
+ clipPoints1[1].v.setValue(0,0,0);
+
+ ClipVertex clipPoints2[2];
+ clipPoints2[0].v.setValue(0,0,0);
+ clipPoints2[1].v.setValue(0,0,0);
+
+
+ int np;
+
+ // Clip to box side 1
+ np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
+
+ if (np < 2)
+ return;
+
+ // Clip to negative box side 1
+ np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
+
+ if (np < 2)
+ {
+ return;
+ }
+
+ // Now clipPoints2 contains the clipped points.
+ btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
+
+ int pointCount = 0;
+ for (int i = 0; i < b2_maxManifoldPoints; ++i)
+ {
+ btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
+
+ if (separation <= 0.0f)
+ {
+
+ //b2ManifoldPoint* cp = manifold->points + pointCount;
+ //btScalar separation = separation;
+ //cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
+ //cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
+
+ manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
+
+// cp->id = clipPoints2[i].id;
+// cp->id.features.flip = flip;
+ ++pointCount;
+ }
+ }
+
+// manifold->pointCount = pointCount;}
+}
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,66 @@
+/*
+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.
+*/
+
+#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+
+#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+
+class btPersistentManifold;
+
+///box-box collision detection
+class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
+{
+ bool m_ownManifold;
+ btPersistentManifold* m_manifoldPtr;
+
+public:
+ btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+ : btActivatingCollisionAlgorithm(ci) {}
+
+ virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+ virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+ btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+
+ virtual ~btBox2dBox2dCollisionAlgorithm();
+
+ virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
+ {
+ if (m_manifoldPtr && m_ownManifold)
+ {
+ manifoldArray.push_back(m_manifoldPtr);
+ }
+ }
+
+
+ struct CreateFunc :public btCollisionAlgorithmCreateFunc
+ {
+ virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+ {
+ int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
+ void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
+ return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
+ }
+ };
+
+};
+
+#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -61,7 +61,7 @@
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
- input.m_maximumDistanceSquared = 1e30f;
+ input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,4 +1,3 @@
-
/*
* Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
* Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
@@ -212,7 +211,7 @@
a = 1.f/(btScalar(3.0)*(a+q));
} else
{
- a=1e30f;
+ a=BT_LARGE_FLOAT;
}
cx = a*(cx + q*(p[n*2-2]+p[0]));
cy = a*(cy + q*(p[n*2-1]+p[1]));
@@ -267,7 +266,7 @@
int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
{
const btScalar fudge_factor = btScalar(1.05);
- btVector3 p,pp,normalC;
+ btVector3 p,pp,normalC(0.f,0.f,0.f);
const btScalar *normalR = 0;
btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;
@@ -333,9 +332,9 @@
#undef TST
#define TST(expr1,expr2,n1,n2,n3,cc) \
s2 = btFabs(expr1) - (expr2); \
- if (s2 > 0) return 0; \
+ if (s2 > SIMD_EPSILON) return 0; \
l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
- if (l > 0) { \
+ if (l > SIMD_EPSILON) { \
s2 /= l; \
if (s2*fudge_factor > s) { \
s = s2; \
@@ -346,6 +345,20 @@
} \
}
+ btScalar fudge2 (1.0e-5f);
+
+ Q11 += fudge2;
+ Q12 += fudge2;
+ Q13 += fudge2;
+
+ Q21 += fudge2;
+ Q22 += fudge2;
+ Q23 += fudge2;
+
+ Q31 += fudge2;
+ Q32 += fudge2;
+ Q33 += fudge2;
+
// separating axis = u1 x (v1,v2,v3)
TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
@@ -424,6 +437,7 @@
output.addContactPoint(-normal,pointInWorld,-*depth);
#else
output.addContactPoint(-normal,pb,-*depth);
+
#endif //
*return_code = code;
}
@@ -593,21 +607,30 @@
if (maxc < 1) maxc = 1;
if (cnum <= maxc) {
+
+ if (code<4)
+ {
// we have less contacts than we need, so we use them all
- for (j=0; j < cnum; j++) {
-
- //AddContactPoint...
-
- //dContactGeom *con = CONTACT(contact,skip*j);
- //for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
- //con->depth = dep[j];
-
+ for (j=0; j < cnum; j++)
+ {
btVector3 pointInWorld;
for (i=0; i<3; i++)
pointInWorld[i] = point[j*3+i] + pa[i];
output.addContactPoint(-normal,pointInWorld,-dep[j]);
}
+ } else
+ {
+ // we have less contacts than we need, so we use them all
+ for (j=0; j < cnum; j++)
+ {
+ btVector3 pointInWorld;
+ for (i=0; i<3; i++)
+ pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j];
+ //pointInWorld[i] = point[j*3+i] + pa[i];
+ output.addContactPoint(-normal,pointInWorld,-dep[j]);
+ }
+ }
}
else {
// we have more contacts than are wanted, some of them must be culled.
@@ -632,7 +655,13 @@
btVector3 posInWorld;
for (i=0; i<3; i++)
posInWorld[i] = point[iret[j]*3+i] + pa[i];
- output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
+ if (code<4)
+ {
+ output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
+ } else
+ {
+ output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]);
+ }
}
cnum = maxc;
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -34,9 +34,7 @@
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):
- m_count(0),
- m_useIslands(true),
- m_staticWarningReported(false),
+m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
m_collisionConfiguration(collisionConfiguration)
{
int i;
@@ -79,9 +77,11 @@
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
- //test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
- //btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
- btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
+ //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
+
+ btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ?
+ btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
+ : gContactBreakingThreshold ;
btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
@@ -169,13 +169,13 @@
bool needsCollision = true;
#ifdef BT_DEBUG
- if (!m_staticWarningReported)
+ if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
{
- m_staticWarningReported = true;
+ m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -42,14 +42,10 @@
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
- int m_count;
+ int m_dispatcherFlags;
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
- bool m_useIslands;
-
- bool m_staticWarningReported;
-
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
@@ -59,13 +55,29 @@
btPoolAllocator* m_persistentManifoldPoolAllocator;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-
btCollisionConfiguration* m_collisionConfiguration;
public:
+ enum DispatcherFlags
+ {
+ CD_STATIC_STATIC_REPORTED = 1,
+ CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
+ };
+
+ int getDispatcherFlags() const
+ {
+ return m_dispatcherFlags;
+ }
+
+ void setDispatcherFlags(int flags)
+ {
+ (void) flags;
+ m_dispatcherFlags = 0;
+ }
+
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -15,13 +15,15 @@
#include "btCollisionObject.h"
+#include "LinearMath/btSerializer.h"
btCollisionObject::btCollisionObject()
: m_anisotropicFriction(1.f,1.f,1.f),
m_hasAnisotropicFriction(false),
- m_contactProcessingThreshold(1e30f),
+ m_contactProcessingThreshold(BT_LARGE_FLOAT),
m_broadphaseHandle(0),
m_collisionShape(0),
+ m_extensionPointer(0),
m_rootCollisionShape(0),
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
m_islandTag1(-1),
@@ -30,14 +32,14 @@
m_deactivationTime(btScalar(0.)),
m_friction(btScalar(0.5)),
m_restitution(btScalar(0.)),
+ m_internalType(CO_COLLISION_OBJECT),
m_userObjectPointer(0),
- m_internalType(CO_COLLISION_OBJECT),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
{
-
+ m_worldTransform.setIdentity();
}
btCollisionObject::~btCollisionObject()
@@ -64,5 +66,51 @@
}
}
+const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
+ m_worldTransform.serialize(dataOut->m_worldTransform);
+ m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
+ m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
+ m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
+ m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
+ dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
+ dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
+ dataOut->m_broadphaseHandle = 0;
+ dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
+ dataOut->m_rootCollisionShape = 0;//@todo
+ dataOut->m_collisionFlags = m_collisionFlags;
+ dataOut->m_islandTag1 = m_islandTag1;
+ dataOut->m_companionId = m_companionId;
+ dataOut->m_activationState1 = m_activationState1;
+ dataOut->m_activationState1 = m_activationState1;
+ dataOut->m_deactivationTime = m_deactivationTime;
+ dataOut->m_friction = m_friction;
+ dataOut->m_restitution = m_restitution;
+ dataOut->m_internalType = m_internalType;
+
+ char* name = (char*) serializer->findNameForPointer(this);
+ dataOut->m_name = (char*)serializer->getUniquePointer(name);
+ if (dataOut->m_name)
+ {
+ serializer->serializeName(name);
+ }
+ dataOut->m_hitFraction = m_hitFraction;
+ dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
+ dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
+ dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
+ dataOut->m_checkCollideWith = m_checkCollideWith;
+
+ return btCollisionObjectDataName;
+}
+
+
+void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
+{
+ int len = calculateSerializeBufferSize();
+ btChunk* chunk = serializer->allocate(len,1);
+ const char* structType = serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
+}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -27,14 +27,22 @@
struct btBroadphaseProxy;
class btCollisionShape;
+struct btCollisionShapeData;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"
-
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btCollisionObjectData btCollisionObjectDoubleData
+#define btCollisionObjectDataName "btCollisionObjectDoubleData"
+#else
+#define btCollisionObjectData btCollisionObjectFloatData
+#define btCollisionObjectDataName "btCollisionObjectFloatData"
+#endif
+
/// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
/// They can be added to the btCollisionWorld.
@@ -53,12 +61,14 @@
btVector3 m_interpolationLinearVelocity;
btVector3 m_interpolationAngularVelocity;
- btVector3 m_anisotropicFriction;
- bool m_hasAnisotropicFriction;
- btScalar m_contactProcessingThreshold;
+ btVector3 m_anisotropicFriction;
+ int m_hasAnisotropicFriction;
+ btScalar m_contactProcessingThreshold;
btBroadphaseProxy* m_broadphaseHandle;
btCollisionShape* m_collisionShape;
+ ///m_extensionPointer is used by some internal low-level Bullet extensions.
+ void* m_extensionPointer;
///m_rootCollisionShape is temporarily used to store the original collision shape
///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
@@ -76,13 +86,13 @@
btScalar m_friction;
btScalar m_restitution;
- ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
- void* m_userObjectPointer;
-
///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
///do not assign your own m_internalType unless you write a new dynamics object class.
int m_internalType;
+ ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
+ void* m_userObjectPointer;
+
///time of impact calculation
btScalar m_hitFraction;
@@ -93,10 +103,8 @@
btScalar m_ccdMotionThreshold;
/// If some object should have elaborate collision filtering by sub-classes
- bool m_checkCollideWith;
+ int m_checkCollideWith;
- char m_pad[7];
-
virtual bool checkCollideWithOverride(btCollisionObject* /* co */)
{
return true;
@@ -112,18 +120,21 @@
CF_KINEMATIC_OBJECT= 2,
CF_NO_CONTACT_RESPONSE = 4,
CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
- CF_CHARACTER_OBJECT = 16
+ CF_CHARACTER_OBJECT = 16,
+ CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
+ CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
};
enum CollisionObjectTypes
{
CO_COLLISION_OBJECT =1,
- CO_RIGID_BODY,
+ CO_RIGID_BODY=2,
///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
///It is useful for collision sensors, explosion objects, character controller etc.
- CO_GHOST_OBJECT,
- CO_SOFT_BODY,
- CO_HF_FLUID
+ CO_GHOST_OBJECT=4,
+ CO_SOFT_BODY=8,
+ CO_HF_FLUID=16,
+ CO_USER_TYPE=32
};
SIMD_FORCE_INLINE bool mergesSimulationIslands() const
@@ -143,7 +154,7 @@
}
bool hasAnisotropicFriction() const
{
- return m_hasAnisotropicFriction;
+ return m_hasAnisotropicFriction!=0;
}
///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
@@ -213,6 +224,19 @@
m_collisionShape = collisionShape;
}
+ ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
+ ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
+ void* internalGetExtensionPointer() const
+ {
+ return m_extensionPointer;
+ }
+ ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
+ ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
+ void internalSetExtensionPointer(void* pointer)
+ {
+ m_extensionPointer = pointer;
+ }
+
SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;}
void setActivationState(int newState);
@@ -393,7 +417,7 @@
/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
void setCcdMotionThreshold(btScalar ccdMotionThreshold)
{
- m_ccdMotionThreshold = ccdMotionThreshold*ccdMotionThreshold;
+ m_ccdMotionThreshold = ccdMotionThreshold;
}
///users can point to their objects, userPointer is not used by Bullet
@@ -416,6 +440,85 @@
return true;
}
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
+
+ virtual void serializeSingleObject(class btSerializer* serializer) const;
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCollisionObjectDoubleData
+{
+ void *m_broadphaseHandle;
+ void *m_collisionShape;
+ btCollisionShapeData *m_rootCollisionShape;
+ char *m_name;
+
+ btTransformDoubleData m_worldTransform;
+ btTransformDoubleData m_interpolationWorldTransform;
+ btVector3DoubleData m_interpolationLinearVelocity;
+ btVector3DoubleData m_interpolationAngularVelocity;
+ btVector3DoubleData m_anisotropicFriction;
+ double m_contactProcessingThreshold;
+ double m_deactivationTime;
+ double m_friction;
+ double m_restitution;
+ double m_hitFraction;
+ double m_ccdSweptSphereRadius;
+ double m_ccdMotionThreshold;
+
+ int m_hasAnisotropicFriction;
+ int m_collisionFlags;
+ int m_islandTag1;
+ int m_companionId;
+ int m_activationState1;
+ int m_internalType;
+ int m_checkCollideWith;
+
+ char m_padding[4];
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCollisionObjectFloatData
+{
+ void *m_broadphaseHandle;
+ void *m_collisionShape;
+ btCollisionShapeData *m_rootCollisionShape;
+ char *m_name;
+
+ btTransformFloatData m_worldTransform;
+ btTransformFloatData m_interpolationWorldTransform;
+ btVector3FloatData m_interpolationLinearVelocity;
+ btVector3FloatData m_interpolationAngularVelocity;
+ btVector3FloatData m_anisotropicFriction;
+ float m_contactProcessingThreshold;
+ float m_deactivationTime;
+ float m_friction;
+ float m_restitution;
+ float m_hitFraction;
+ float m_ccdSweptSphereRadius;
+ float m_ccdMotionThreshold;
+
+ int m_hasAnisotropicFriction;
+ int m_collisionFlags;
+ int m_islandTag1;
+ int m_companionId;
+ int m_activationState1;
+ int m_internalType;
+ int m_checkCollideWith;
+};
+
+
+
+SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
+{
+ return sizeof(btCollisionObjectData);
+}
+
+
+
#endif //COLLISION_OBJECT_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -26,11 +26,12 @@
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
+#include "LinearMath/btSerializer.h"
//#define USE_BRUTEFORCE_RAYBROADPHASE 1
//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest
@@ -42,10 +43,29 @@
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
+///for debug drawing
+
+//for debug rendering
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btConeShape.h"
+#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
+#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+
+
+
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
:m_dispatcher1(dispatcher),
m_broadphasePairCache(pairCache),
-m_debugDrawer(0)
+m_debugDrawer(0),
+m_forceUpdateAllAabbs(true)
{
m_stackAlloc = collisionConfiguration->getStackAllocator();
m_dispatchInfo.m_stackAllocator = m_stackAlloc;
@@ -88,28 +108,30 @@
void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
{
+ btAssert(collisionObject);
+
//check that the object isn't already added
- btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
+ btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
- m_collisionObjects.push_back(collisionObject);
+ m_collisionObjects.push_back(collisionObject);
- //calculate new AABB
- btTransform trans = collisionObject->getWorldTransform();
+ //calculate new AABB
+ btTransform trans = collisionObject->getWorldTransform();
- btVector3 minAabb;
- btVector3 maxAabb;
- collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
+ btVector3 minAabb;
+ btVector3 maxAabb;
+ collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
- int type = collisionObject->getCollisionShape()->getShapeType();
- collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
- minAabb,
- maxAabb,
- type,
- collisionObject,
- collisionFilterGroup,
- collisionFilterMask,
- m_dispatcher1,0
- )) ;
+ int type = collisionObject->getCollisionShape()->getShapeType();
+ collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
+ minAabb,
+ maxAabb,
+ type,
+ collisionObject,
+ collisionFilterGroup,
+ collisionFilterMask,
+ m_dispatcher1,0
+ )) ;
@@ -162,7 +184,7 @@
btCollisionObject* colObj = m_collisionObjects[i];
//only update aabb of active objects
- if (colObj->isActive())
+ if (m_forceUpdateAllAabbs || colObj->isActive())
{
updateSingleAabb(colObj);
}
@@ -225,10 +247,10 @@
void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
- btCollisionObject* collisionObject,
- const btCollisionShape* collisionShape,
- const btTransform& colObjWorldTransform,
- RayResultCallback& resultCallback)
+ btCollisionObject* collisionObject,
+ const btCollisionShape* collisionShape,
+ const btTransform& colObjWorldTransform,
+ RayResultCallback& resultCallback)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
@@ -236,7 +258,7 @@
if (collisionShape->isConvex())
{
-// BT_PROFILE("rayTestConvex");
+ // BT_PROFILE("rayTestConvex");
btConvexCast::CastResult castResult;
castResult.m_fraction = resultCallback.m_closestHitFraction;
@@ -265,10 +287,10 @@
castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult
(
- collisionObject,
- 0,
- castResult.m_normal,
- castResult.m_fraction
+ collisionObject,
+ 0,
+ castResult.m_normal,
+ castResult.m_fraction
);
bool normalInWorldSpace = true;
@@ -280,7 +302,7 @@
} else {
if (collisionShape->isConcave())
{
-// BT_PROFILE("rayTestConcave");
+ // BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
@@ -296,15 +318,18 @@
btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
+ btTransform m_colObjWorldTransform;
+
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
- btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
- //@BP Mod
- btTriangleRaycastCallback(from,to, resultCallback->m_flags),
- m_resultCallback(resultCallback),
- m_collisionObject(collisionObject),
- m_triangleMesh(triangleMesh)
- {
- }
+ btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
+ //@BP Mod
+ btTriangleRaycastCallback(from,to, resultCallback->m_flags),
+ m_resultCallback(resultCallback),
+ m_collisionObject(collisionObject),
+ m_triangleMesh(triangleMesh),
+ m_colObjWorldTransform(colObjWorldTransform)
+ {
+ }
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
@@ -313,19 +338,21 @@
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
+ btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
+
btCollisionWorld::LocalRayResult rayResult
- (m_collisionObject,
+ (m_collisionObject,
&shapeInfo,
- hitNormalLocal,
+ hitNormalWorld,
hitFraction);
- bool normalInWorldSpace = false;
+ bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
- BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
+ BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh,colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} else
@@ -346,15 +373,18 @@
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
+ btTransform m_colObjWorldTransform;
+
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
- btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh):
- //@BP Mod
- btTriangleRaycastCallback(from,to, resultCallback->m_flags),
- m_resultCallback(resultCallback),
- m_collisionObject(collisionObject),
- m_triangleMesh(triangleMesh)
- {
- }
+ btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform):
+ //@BP Mod
+ btTriangleRaycastCallback(from,to, resultCallback->m_flags),
+ m_resultCallback(resultCallback),
+ m_collisionObject(collisionObject),
+ m_triangleMesh(triangleMesh),
+ m_colObjWorldTransform(colObjWorldTransform)
+ {
+ }
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
@@ -363,22 +393,22 @@
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
+ btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
+
btCollisionWorld::LocalRayResult rayResult
- (m_collisionObject,
+ (m_collisionObject,
&shapeInfo,
- hitNormalLocal,
+ hitNormalWorld,
hitFraction);
- bool normalInWorldSpace = false;
+ bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
-
-
}
};
- BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape);
+ BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 rayAabbMinLocal = rayFromLocal;
@@ -389,7 +419,7 @@
concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
}
} else {
-// BT_PROFILE("rayTestCompound");
+ // BT_PROFILE("rayTestCompound");
///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
if (collisionShape->isCompound())
{
@@ -403,11 +433,36 @@
// replace collision shape so that callback can determine the triangle
btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+ struct LocalInfoAdder2 : public RayResultCallback {
+ RayResultCallback* m_userCallback;
+ int m_i;
+ LocalInfoAdder2 (int i, RayResultCallback *user)
+ : m_userCallback(user),
+ m_i(i)
+ {
+ m_closestHitFraction = m_userCallback->m_closestHitFraction;
+ }
+ virtual btScalar addSingleResult (btCollisionWorld::LocalRayResult &r, bool b)
+ {
+ btCollisionWorld::LocalShapeInfo shapeInfo;
+ shapeInfo.m_shapePart = -1;
+ shapeInfo.m_triangleIndex = m_i;
+ if (r.m_localShapeInfo == NULL)
+ r.m_localShapeInfo = &shapeInfo;
+
+ const btScalar result = m_userCallback->addSingleResult(r, b);
+ m_closestHitFraction = m_userCallback->m_closestHitFraction;
+ return result;
+ }
+ };
+
+ LocalInfoAdder2 my_cb(i, &resultCallback);
+
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
- resultCallback);
+ my_cb);
// restore
collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
@@ -417,10 +472,10 @@
}
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
- btCollisionObject* collisionObject,
- const btCollisionShape* collisionShape,
- const btTransform& colObjWorldTransform,
- ConvexResultCallback& resultCallback, btScalar allowedPenetration)
+ btCollisionObject* collisionObject,
+ const btCollisionShape* collisionShape,
+ const btTransform& colObjWorldTransform,
+ ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
if (collisionShape->isConvex())
{
@@ -432,15 +487,15 @@
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
-
+
btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver);
//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
btConvexCast* castPtr = &convexCaster1;
-
-
-
+
+
+
if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
@@ -450,13 +505,13 @@
{
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
- (
- collisionObject,
- 0,
- castResult.m_normal,
- castResult.m_hitPoint,
- castResult.m_fraction
- );
+ (
+ collisionObject,
+ 0,
+ castResult.m_normal,
+ castResult.m_hitPoint,
+ castResult.m_fraction
+ );
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
@@ -486,12 +541,12 @@
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
- btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
- m_resultCallback(resultCallback),
- m_collisionObject(collisionObject),
- m_triangleMesh(triangleMesh)
- {
- }
+ btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
+ m_resultCallback(resultCallback),
+ m_collisionObject(collisionObject),
+ m_triangleMesh(triangleMesh)
+ {
+ }
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
@@ -503,7 +558,7 @@
{
btCollisionWorld::LocalConvexResult convexResult
- (m_collisionObject,
+ (m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
@@ -543,12 +598,12 @@
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
- btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
- m_resultCallback(resultCallback),
- m_collisionObject(collisionObject),
- m_triangleMesh(triangleMesh)
- {
- }
+ btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
+ m_resultCallback(resultCallback),
+ m_collisionObject(collisionObject),
+ m_triangleMesh(triangleMesh)
+ {
+ }
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
@@ -560,7 +615,7 @@
{
btCollisionWorld::LocalConvexResult convexResult
- (m_collisionObject,
+ (m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
@@ -603,11 +658,37 @@
// replace collision shape so that callback can determine the triangle
btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
+ struct LocalInfoAdder : public ConvexResultCallback {
+ ConvexResultCallback* m_userCallback;
+ int m_i;
+
+ LocalInfoAdder (int i, ConvexResultCallback *user)
+ : m_userCallback(user), m_i(i)
+ {
+ m_closestHitFraction = m_userCallback->m_closestHitFraction;
+ }
+ virtual btScalar addSingleResult (btCollisionWorld::LocalConvexResult& r, bool b)
+ {
+ btCollisionWorld::LocalShapeInfo shapeInfo;
+ shapeInfo.m_shapePart = -1;
+ shapeInfo.m_triangleIndex = m_i;
+ if (r.m_localShapeInfo == NULL)
+ r.m_localShapeInfo = &shapeInfo;
+ const btScalar result = m_userCallback->addSingleResult(r, b);
+ m_closestHitFraction = m_userCallback->m_closestHitFraction;
+ return result;
+
+ }
+ };
+
+ LocalInfoAdder my_cb(i, &resultCallback);
+
+
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
- resultCallback, allowedPenetration);
+ my_cb, allowedPenetration);
// restore
collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
@@ -630,10 +711,10 @@
btCollisionWorld::RayResultCallback& m_resultCallback;
btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
- :m_rayFromWorld(rayFromWorld),
- m_rayToWorld(rayToWorld),
- m_world(world),
- m_resultCallback(resultCallback)
+ :m_rayFromWorld(rayFromWorld),
+ m_rayToWorld(rayToWorld),
+ m_world(world),
+ m_resultCallback(resultCallback)
{
m_rayFromTrans.setIdentity();
m_rayFromTrans.setOrigin(m_rayFromWorld);
@@ -643,10 +724,10 @@
btVector3 rayDir = (rayToWorld-rayFromWorld);
rayDir.normalize ();
- ///what about division by zero? --> just set rayDirection[i] to INF/1e30
- m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
- m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
- m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+ ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
+ m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
+ m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
+ m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
@@ -655,8 +736,8 @@
}
-
+
virtual bool process(const btBroadphaseProxy* proxy)
{
///terminate further ray tests, once the closestHitFraction reached zero
@@ -686,9 +767,9 @@
{
m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
collisionObject,
- collisionObject->getCollisionShape(),
- collisionObject->getWorldTransform(),
- m_resultCallback);
+ collisionObject->getCollisionShape(),
+ collisionObject->getWorldTransform(),
+ m_resultCallback);
}
}
return true;
@@ -697,7 +778,7 @@
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
- BT_PROFILE("rayTest");
+ //BT_PROFILE("rayTest");
/// use the broadphase to accelerate the search for objects, based on their aabb
/// and for each object with ray-aabb overlap, perform an exact ray test
btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
@@ -736,10 +817,10 @@
{
btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());
btVector3 rayDir = unnormalizedRayDir.normalized();
- ///what about division by zero? --> just set rayDirection[i] to INF/1e30
- m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
- m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
- m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+ ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
+ m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
+ m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
+ m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
@@ -760,13 +841,13 @@
if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans,
- collisionObject,
- collisionObject->getCollisionShape(),
- collisionObject->getWorldTransform(),
- m_resultCallback,
- m_allowedCcdPenetration);
+ collisionObject,
+ collisionObject->getCollisionShape(),
+ collisionObject->getWorldTransform(),
+ m_resultCallback,
+ m_allowedCcdPenetration);
}
-
+
return true;
}
};
@@ -781,8 +862,8 @@
/// and for each object with ray-aabb overlap, perform an exact ray test
/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
-
+
btTransform convexFromTrans,convexToTrans;
convexFromTrans = convexFromWorld;
convexToTrans = convexToWorld;
@@ -824,12 +905,528 @@
{
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
- collisionObject->getCollisionShape(),
- collisionObject->getWorldTransform(),
- resultCallback,
- allowedCcdPenetration);
+ collisionObject->getCollisionShape(),
+ collisionObject->getWorldTransform(),
+ resultCallback,
+ allowedCcdPenetration);
}
}
}
#endif //USE_BRUTEFORCE_RAYBROADPHASE
}
+
+
+
+struct btBridgedManifoldResult : public btManifoldResult
+{
+
+ btCollisionWorld::ContactResultCallback& m_resultCallback;
+
+ btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
+ :btManifoldResult(obj0,obj1),
+ m_resultCallback(resultCallback)
+ {
+ }
+
+ virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+ {
+ bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
+ btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
+ btVector3 localA;
+ btVector3 localB;
+ if (isSwapped)
+ {
+ localA = m_rootTransB.invXform(pointA );
+ localB = m_rootTransA.invXform(pointInWorld);
+ } else
+ {
+ localA = m_rootTransA.invXform(pointA );
+ localB = m_rootTransB.invXform(pointInWorld);
+ }
+
+ btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
+ newPt.m_positionWorldOnA = pointA;
+ newPt.m_positionWorldOnB = pointInWorld;
+
+ //BP mod, store contact triangles.
+ if (isSwapped)
+ {
+ newPt.m_partId0 = m_partId1;
+ newPt.m_partId1 = m_partId0;
+ newPt.m_index0 = m_index1;
+ newPt.m_index1 = m_index0;
+ } else
+ {
+ newPt.m_partId0 = m_partId0;
+ newPt.m_partId1 = m_partId1;
+ newPt.m_index0 = m_index0;
+ newPt.m_index1 = m_index1;
+ }
+
+ //experimental feature info, for per-triangle material etc.
+ btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
+ btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
+ m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
+
+ }
+
+};
+
+
+
+struct btSingleContactCallback : public btBroadphaseAabbCallback
+{
+
+ btCollisionObject* m_collisionObject;
+ btCollisionWorld* m_world;
+ btCollisionWorld::ContactResultCallback& m_resultCallback;
+
+
+ btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world,btCollisionWorld::ContactResultCallback& resultCallback)
+ :m_collisionObject(collisionObject),
+ m_world(world),
+ m_resultCallback(resultCallback)
+ {
+ }
+
+ virtual bool process(const btBroadphaseProxy* proxy)
+ {
+ btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
+ if (collisionObject == m_collisionObject)
+ return true;
+
+ //only perform raycast if filterMask matches
+ if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
+ {
+ btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
+ if (algorithm)
+ {
+ btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
+ //discrete collision detection query
+ algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);
+
+ algorithm->~btCollisionAlgorithm();
+ m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
+ }
+ }
+ return true;
+ }
+};
+
+
+///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.
+///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
+void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCallback& resultCallback)
+{
+ btVector3 aabbMin,aabbMax;
+ colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);
+ btSingleContactCallback contactCB(colObj,this,resultCallback);
+
+ m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB);
+}
+
+
+///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
+///it reports one or more contact points (including the one with deepest penetration)
+void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
+{
+ btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
+ if (algorithm)
+ {
+ btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
+ //discrete collision detection query
+ algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);
+
+ algorithm->~btCollisionAlgorithm();
+ getDispatcher()->freeCollisionAlgorithm(algorithm);
+ }
+
+}
+
+
+
+
+class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
+{
+ btIDebugDraw* m_debugDrawer;
+ btVector3 m_color;
+ btTransform m_worldTrans;
+
+public:
+
+ DebugDrawcallback(btIDebugDraw* debugDrawer,const btTransform& worldTrans,const btVector3& color) :
+ m_debugDrawer(debugDrawer),
+ m_color(color),
+ m_worldTrans(worldTrans)
+ {
+ }
+
+ virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
+ {
+ processTriangle(triangle,partId,triangleIndex);
+ }
+
+ virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+ {
+ (void)partId;
+ (void)triangleIndex;
+
+ btVector3 wv0,wv1,wv2;
+ wv0 = m_worldTrans*triangle[0];
+ wv1 = m_worldTrans*triangle[1];
+ wv2 = m_worldTrans*triangle[2];
+ btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
+
+ btVector3 normal = (wv1-wv0).cross(wv2-wv0);
+ normal.normalize();
+ btVector3 normalColor(1,1,0);
+ m_debugDrawer->drawLine(center,center+normal,normalColor);
+
+
+
+
+ m_debugDrawer->drawLine(wv0,wv1,m_color);
+ m_debugDrawer->drawLine(wv1,wv2,m_color);
+ m_debugDrawer->drawLine(wv2,wv0,m_color);
+ }
+};
+
+
+void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
+{
+ // Draw a small simplex at the center of the object
+ getDebugDrawer()->drawTransform(worldTransform,1);
+
+ if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+ {
+ const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+ for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+ {
+ btTransform childTrans = compoundShape->getChildTransform(i);
+ const btCollisionShape* colShape = compoundShape->getChildShape(i);
+ debugDrawObject(worldTransform*childTrans,colShape,color);
+ }
+
+ } else
+ {
+ switch (shape->getShapeType())
+ {
+
+ case BOX_SHAPE_PROXYTYPE:
+ {
+ const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+ btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
+ getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
+ break;
+ }
+
+ case SPHERE_SHAPE_PROXYTYPE:
+ {
+ const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+ btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+
+ getDebugDrawer()->drawSphere(radius, worldTransform, color);
+ break;
+ }
+ case MULTI_SPHERE_SHAPE_PROXYTYPE:
+ {
+ const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
+
+ btTransform childTransform;
+ childTransform.setIdentity();
+
+ for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+ {
+ childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+ getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
+ }
+
+ break;
+ }
+ case CAPSULE_SHAPE_PROXYTYPE:
+ {
+ const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
+
+ btScalar radius = capsuleShape->getRadius();
+ btScalar halfHeight = capsuleShape->getHalfHeight();
+
+ int upAxis = capsuleShape->getUpAxis();
+
+
+ btVector3 capStart(0.f,0.f,0.f);
+ capStart[upAxis] = -halfHeight;
+
+ btVector3 capEnd(0.f,0.f,0.f);
+ capEnd[upAxis] = halfHeight;
+
+ // Draw the ends
+ {
+
+ btTransform childTransform = worldTransform;
+ childTransform.getOrigin() = worldTransform * capStart;
+ getDebugDrawer()->drawSphere(radius, childTransform, color);
+ }
+
+ {
+ btTransform childTransform = worldTransform;
+ childTransform.getOrigin() = worldTransform * capEnd;
+ getDebugDrawer()->drawSphere(radius, childTransform, color);
+ }
+
+ // Draw some additional lines
+ btVector3 start = worldTransform.getOrigin();
+
+
+ capStart[(upAxis+1)%3] = radius;
+ capEnd[(upAxis+1)%3] = radius;
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
+ capStart[(upAxis+1)%3] = -radius;
+ capEnd[(upAxis+1)%3] = -radius;
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
+
+ capStart[(upAxis+1)%3] = 0.f;
+ capEnd[(upAxis+1)%3] = 0.f;
+
+ capStart[(upAxis+2)%3] = radius;
+ capEnd[(upAxis+2)%3] = radius;
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
+ capStart[(upAxis+2)%3] = -radius;
+ capEnd[(upAxis+2)%3] = -radius;
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
+
+
+ break;
+ }
+ case CONE_SHAPE_PROXYTYPE:
+ {
+ const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+ btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
+ btScalar height = coneShape->getHeight();//+coneShape->getMargin();
+ btVector3 start = worldTransform.getOrigin();
+
+ int upAxis= coneShape->getConeUpIndex();
+
+
+ btVector3 offsetHeight(0,0,0);
+ offsetHeight[upAxis] = height * btScalar(0.5);
+ btVector3 offsetRadius(0,0,0);
+ offsetRadius[(upAxis+1)%3] = radius;
+ btVector3 offset2Radius(0,0,0);
+ offset2Radius[(upAxis+2)%3] = radius;
+
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color);
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offset2Radius),color);
+
+ // Drawing the base of the cone
+ btVector3 yaxis(0,0,0);
+ yaxis[upAxis] = btScalar(1.0);
+ btVector3 xaxis(0,0,0);
+ xaxis[(upAxis+1)%3] = btScalar(1.0);
+ getDebugDrawer()->drawArc(start-worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
+ break;
+
+ }
+ case CYLINDER_SHAPE_PROXYTYPE:
+ {
+ const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+ int upAxis = cylinder->getUpAxis();
+ btScalar radius = cylinder->getRadius();
+ btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+ btVector3 start = worldTransform.getOrigin();
+ btVector3 offsetHeight(0,0,0);
+ offsetHeight[upAxis] = halfHeight;
+ btVector3 offsetRadius(0,0,0);
+ offsetRadius[(upAxis+1)%3] = radius;
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight+offsetRadius),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
+ getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
+
+ // Drawing top and bottom caps of the cylinder
+ btVector3 yaxis(0,0,0);
+ yaxis[upAxis] = btScalar(1.0);
+ btVector3 xaxis(0,0,0);
+ xaxis[(upAxis+1)%3] = btScalar(1.0);
+ getDebugDrawer()->drawArc(start-worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+ getDebugDrawer()->drawArc(start+worldTransform.getBasis()*(offsetHeight),worldTransform.getBasis()*yaxis,worldTransform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+ break;
+ }
+
+ case STATIC_PLANE_PROXYTYPE:
+ {
+ const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+ btScalar planeConst = staticPlaneShape->getPlaneConstant();
+ const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+ btVector3 planeOrigin = planeNormal * planeConst;
+ btVector3 vec0,vec1;
+ btPlaneSpace1(planeNormal,vec0,vec1);
+ btScalar vecLen = 100.f;
+ btVector3 pt0 = planeOrigin + vec0*vecLen;
+ btVector3 pt1 = planeOrigin - vec0*vecLen;
+ btVector3 pt2 = planeOrigin + vec1*vecLen;
+ btVector3 pt3 = planeOrigin - vec1*vecLen;
+ getDebugDrawer()->drawLine(worldTransform*pt0,worldTransform*pt1,color);
+ getDebugDrawer()->drawLine(worldTransform*pt2,worldTransform*pt3,color);
+ break;
+
+ }
+ default:
+ {
+
+ if (shape->isConcave())
+ {
+ btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+ ///@todo pass camera, for some culling? no -> we are not a graphics lib
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+
+ DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+ concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+
+ }
+
+ if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+ {
+ btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
+ //todo: pass camera for some culling
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+ //DebugDrawcallback drawCallback;
+ DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+ convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+ }
+
+
+ /// for polyhedral shapes
+ if (shape->isPolyhedral())
+ {
+ btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
+
+ int i;
+ for (i=0;i<polyshape->getNumEdges();i++)
+ {
+ btVector3 a,b;
+ polyshape->getEdge(i,a,b);
+ btVector3 wa = worldTransform * a;
+ btVector3 wb = worldTransform * b;
+ getDebugDrawer()->drawLine(wa,wb,color);
+
+ }
+
+
+ }
+ }
+ }
+ }
+}
+
+
+void btCollisionWorld::debugDrawWorld()
+{
+ if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
+ {
+ int numManifolds = getDispatcher()->getNumManifolds();
+ btVector3 color(0,0,0);
+ for (int i=0;i<numManifolds;i++)
+ {
+ btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
+ //btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
+ //btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
+
+ int numContacts = contactManifold->getNumContacts();
+ for (int j=0;j<numContacts;j++)
+ {
+ btManifoldPoint& cp = contactManifold->getContactPoint(j);
+ getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
+ }
+ }
+ }
+
+ if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
+ {
+ int i;
+
+ for ( i=0;i<m_collisionObjects.size();i++)
+ {
+ btCollisionObject* colObj = m_collisionObjects[i];
+ if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
+ {
+ if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
+ {
+ btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
+ switch(colObj->getActivationState())
+ {
+ case ACTIVE_TAG:
+ color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break;
+ case ISLAND_SLEEPING:
+ color = btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break;
+ case WANTS_DEACTIVATION:
+ color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break;
+ case DISABLE_DEACTIVATION:
+ color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break;
+ case DISABLE_SIMULATION:
+ color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break;
+ default:
+ {
+ color = btVector3(btScalar(1),btScalar(0.),btScalar(0.));
+ }
+ };
+
+ debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
+ }
+ if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
+ {
+ btVector3 minAabb,maxAabb;
+ btVector3 colorvec(1,0,0);
+ colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+ m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
+ }
+ }
+
+ }
+ }
+}
+
+
+void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
+{
+ int i;
+ //serialize all collision objects
+ for (i=0;i<m_collisionObjects.size();i++)
+ {
+ btCollisionObject* colObj = m_collisionObjects[i];
+ if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
+ {
+ colObj->serializeSingleObject(serializer);
+ }
+ }
+
+ ///keep track of shapes already serialized
+ btHashMap<btHashPtr,btCollisionShape*> serializedShapes;
+
+ for (i=0;i<m_collisionObjects.size();i++)
+ {
+ btCollisionObject* colObj = m_collisionObjects[i];
+ btCollisionShape* shape = colObj->getCollisionShape();
+
+ if (!serializedShapes.find(shape))
+ {
+ serializedShapes.insert(shape,shape);
+ shape->serializeSingleShape(serializer);
+ }
+ }
+
+}
+
+
+void btCollisionWorld::serialize(btSerializer* serializer)
+{
+
+ serializer->startSerialization();
+
+ serializeCollisionObjects(serializer);
+
+ serializer->finishSerialization();
+}
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -22,6 +22,7 @@
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
+ * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
* Please visit http://www.bulletphysics.com
*
@@ -29,15 +30,17 @@
*
* @subsection step1 Step 1: Download
* You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
+ *
* @subsection step2 Step 2: Building
- * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
- * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
+ * Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
+ * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
+ * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
+ * You can also use cmake in the command-line. Here are some examples for various platforms:
+ * cmake . -G "Visual Studio 9 2008"
+ * cmake . -G Xcode
+ * cmake . -G "Unix Makefiles"
+ * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
*
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
- * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
- * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
- *
* @subsection step3 Step 3: Testing demos
* Try to run and experiment with BasicDemo executable as a starting point.
* Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
@@ -53,13 +56,9 @@
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
*
* @section copyright Copyright
- * Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
- * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
- * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
+ * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
*
*/
-
-
@@ -70,6 +69,8 @@
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
+class btSerializer;
+
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
@@ -81,12 +82,10 @@
class btCollisionWorld
{
-
protected:
btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
-
btDispatcher* m_dispatcher1;
@@ -98,8 +97,12 @@
btIDebugDraw* m_debugDrawer;
+ ///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs
+ ///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
+ bool m_forceUpdateAllAabbs;
-
+ void serializeCollisionObjects(btSerializer* serializer);
+
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
@@ -141,7 +144,6 @@
void updateSingleAabb(btCollisionObject* colObj);
virtual void updateAabbs();
-
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
@@ -153,14 +155,17 @@
return m_debugDrawer;
}
+ virtual void debugDrawWorld();
+ virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
+
+
///LocalShapeInfo gives extra information for complex shapes
///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
struct LocalShapeInfo
{
int m_shapePart;
int m_triangleIndex;
-
//const btCollisionShape* m_shapeTemp;
//const btTransform* m_shapeLocalTransform;
@@ -238,13 +243,11 @@
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
-
virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
-
m_closestHitFraction = rayResult.m_hitFraction;
m_collisionObject = rayResult.m_collisionObject;
@@ -261,7 +264,46 @@
}
};
+ struct AllHitsRayResultCallback : public RayResultCallback
+ {
+ AllHitsRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
+ :m_rayFromWorld(rayFromWorld),
+ m_rayToWorld(rayToWorld)
+ {
+ }
+ btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
+
+ btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
+ btVector3 m_rayToWorld;
+
+ btAlignedObjectArray<btVector3> m_hitNormalWorld;
+ btAlignedObjectArray<btVector3> m_hitPointWorld;
+ btAlignedObjectArray<btScalar> m_hitFractions;
+
+ virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
+ {
+ m_collisionObject = rayResult.m_collisionObject;
+ m_collisionObjects.push_back(rayResult.m_collisionObject);
+ btVector3 hitNormalWorld;
+ if (normalInWorldSpace)
+ {
+ hitNormalWorld = rayResult.m_hitNormalLocal;
+ } else
+ {
+ ///need to transform normal into worldspace
+ hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
+ }
+ m_hitNormalWorld.push_back(hitNormalWorld);
+ btVector3 hitPointWorld;
+ hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
+ m_hitPointWorld.push_back(hitPointWorld);
+ m_hitFractions.push_back(rayResult.m_hitFraction);
+ return m_closestHitFraction;
+ }
+ };
+
+
struct LocalConvexResult
{
LocalConvexResult(btCollisionObject* hitCollisionObject,
@@ -291,7 +333,6 @@
btScalar m_closestHitFraction;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
-
ConvexResultCallback()
:m_closestHitFraction(btScalar(1.)),
@@ -303,14 +344,12 @@
virtual ~ConvexResultCallback()
{
}
-
bool hasHit() const
{
return (m_closestHitFraction < btScalar(1.));
}
-
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
@@ -338,13 +377,11 @@
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
-
virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
-
m_closestHitFraction = convexResult.m_hitFraction;
m_hitCollisionObject = convexResult.m_hitCollisionObject;
@@ -361,6 +398,34 @@
}
};
+ ///ContactResultCallback is used to report contact points
+ struct ContactResultCallback
+ {
+ short int m_collisionFilterGroup;
+ short int m_collisionFilterMask;
+
+ ContactResultCallback()
+ :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
+ m_collisionFilterMask(btBroadphaseProxy::AllFilter)
+ {
+ }
+
+ virtual ~ContactResultCallback()
+ {
+ }
+
+ virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+ {
+ bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
+ collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+ return collides;
+ }
+
+ virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
+ };
+
+
+
int getNumCollisionObjects() const
{
return int(m_collisionObjects.size());
@@ -368,13 +433,21 @@
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
- void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
+ virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
- // convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
- // This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
+ /// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
+ /// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
+ ///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
+ ///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
+ void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
+ ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
+ ///it reports one or more contact points (including the one with deepest penetration)
+ void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
+
+
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
/// This allows more customization.
@@ -391,7 +464,7 @@
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration);
- void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
+ virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
btCollisionObjectArray& getCollisionObjectArray()
{
@@ -404,7 +477,7 @@
}
- void removeCollisionObject(btCollisionObject* collisionObject);
+ virtual void removeCollisionObject(btCollisionObject* collisionObject);
virtual void performDiscreteCollisionDetection();
@@ -417,7 +490,19 @@
{
return m_dispatchInfo;
}
+
+ bool getForceUpdateAllAabbs() const
+ {
+ return m_forceUpdateAllAabbs;
+ }
+ void setForceUpdateAllAabbs( bool forceUpdateAllAabbs)
+ {
+ m_forceUpdateAllAabbs = forceUpdateAllAabbs;
+ }
+ ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
+ virtual void serialize(btSerializer* serializer);
+
};
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -114,8 +114,9 @@
void ProcessChildShape(btCollisionShape* childShape,int index)
{
-
+ btAssert(index>=0);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
+ btAssert(index<compoundShape->getNumChildShapes());
//backup
@@ -142,6 +143,15 @@
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
+ ///detect swapping case
+ if (m_resultOut->getBody0Internal() == m_compoundColObj)
+ {
+ m_resultOut->setShapeIdentifiersA(-1,index);
+ } else
+ {
+ m_resultOut->setShapeIdentifiersB(-1,index);
+ }
+
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
@@ -257,20 +267,24 @@
int numChildren = m_childCollisionAlgorithms.size();
int i;
btManifoldArray manifoldArray;
-
+ btCollisionShape* childShape = 0;
+ btTransform orgTrans;
+ btTransform orgInterpolationTrans;
+ btTransform newChildWorldTrans;
+ btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
+
for (i=0;i<numChildren;i++)
{
if (m_childCollisionAlgorithms[i])
{
- btCollisionShape* childShape = compoundShape->getChildShape(i);
+ childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm
- btTransform orgTrans = colObj->getWorldTransform();
- btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform();
+ orgTrans = colObj->getWorldTransform();
+ orgInterpolationTrans = colObj->getInterpolationWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
- btTransform newChildWorldTrans = orgTrans*childTrans ;
+ newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
- btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
@@ -280,13 +294,8 @@
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
m_childCollisionAlgorithms[i] = 0;
}
-
}
-
}
-
-
-
}
}
@@ -311,13 +320,15 @@
int numChildren = m_childCollisionAlgorithms.size();
int i;
+ btTransform orgTrans;
+ btScalar frac;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
- btTransform orgTrans = colObj->getWorldTransform();
+ orgTrans = colObj->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
@@ -325,7 +336,7 @@
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
- btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
+ frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,247 @@
+/*
+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 "btConvex2dConvex2dAlgorithm.h"
+
+//#include <stdio.h>
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+
+
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
+#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
+
+
+
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
+
+
+btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
+{
+ m_numPerturbationIterations = 0;
+ m_minimumPointsPerturbationThreshold = 3;
+ m_simplexSolver = simplexSolver;
+ m_pdSolver = pdSolver;
+}
+
+btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
+{
+}
+
+btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+: btActivatingCollisionAlgorithm(ci,body0,body1),
+m_simplexSolver(simplexSolver),
+m_pdSolver(pdSolver),
+m_ownManifold (false),
+m_manifoldPtr(mf),
+m_lowLevelOfDetail(false),
+ m_numPerturbationIterations(numPerturbationIterations),
+m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
+{
+ (void)body0;
+ (void)body1;
+}
+
+
+
+
+btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
+{
+ if (m_ownManifold)
+ {
+ if (m_manifoldPtr)
+ m_dispatcher->releaseManifold(m_manifoldPtr);
+ }
+}
+
+void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
+{
+ m_lowLevelOfDetail = useLowLevel;
+}
+
+
+
+extern btScalar gContactBreakingThreshold;
+
+
+//
+// Convex-Convex collision algorithm
+//
+void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+
+ if (!m_manifoldPtr)
+ {
+ //swapped?
+ m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
+ m_ownManifold = true;
+ }
+ resultOut->setPersistentManifold(m_manifoldPtr);
+
+ //comment-out next line to test multi-contact generation
+ //resultOut->getPersistentManifold()->clearManifold();
+
+
+ btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
+ btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
+
+ btVector3 normalOnB;
+ btVector3 pointOnBWorld;
+
+ {
+
+
+ btGjkPairDetector::ClosestPointInput input;
+
+ btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
+ //TODO: if (dispatchInfo.m_useContinuous)
+ gjkPairDetector.setMinkowskiA(min0);
+ gjkPairDetector.setMinkowskiB(min1);
+
+ {
+ input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+ input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+ }
+
+ input.m_stackAlloc = dispatchInfo.m_stackAllocator;
+ input.m_transformA = body0->getWorldTransform();
+ input.m_transformB = body1->getWorldTransform();
+
+ gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
+ btVector3 v0,v1;
+ btVector3 sepNormalWorldSpace;
+
+ }
+
+ if (m_ownManifold)
+ {
+ resultOut->refreshContactPoints();
+ }
+
+}
+
+
+
+
+btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+ (void)resultOut;
+ (void)dispatchInfo;
+ ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
+
+ ///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
+ ///col0->m_worldTransform,
+ btScalar resultFraction = btScalar(1.);
+
+
+ btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
+ btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
+
+ if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
+ squareMot1 < col1->getCcdSquareMotionThreshold())
+ return resultFraction;
+
+
+ //An adhoc way of testing the Continuous Collision Detection algorithms
+ //One object is approximated as a sphere, to simplify things
+ //Starting in penetration should report no time of impact
+ //For proper CCD, better accuracy and handling of 'allowed' penetration should be added
+ //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
+
+
+ /// Convex0 against sphere for Convex1
+ {
+ btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
+
+ btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+ btConvexCast::CastResult result;
+ btVoronoiSimplexSolver voronoiSimplex;
+ //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
+ ///Simplification, one object is simplified as a sphere
+ btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
+ //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
+ if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
+ col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+ {
+
+ //store result.m_fraction in both bodies
+
+ if (col0->getHitFraction()> result.m_fraction)
+ col0->setHitFraction( result.m_fraction );
+
+ if (col1->getHitFraction() > result.m_fraction)
+ col1->setHitFraction( result.m_fraction);
+
+ if (resultFraction > result.m_fraction)
+ resultFraction = result.m_fraction;
+
+ }
+
+
+
+
+ }
+
+ /// Sphere (for convex0) against Convex1
+ {
+ btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
+
+ btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+ btConvexCast::CastResult result;
+ btVoronoiSimplexSolver voronoiSimplex;
+ //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
+ ///Simplification, one object is simplified as a sphere
+ btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
+ //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
+ if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
+ col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+ {
+
+ //store result.m_fraction in both bodies
+
+ if (col0->getHitFraction() > result.m_fraction)
+ col0->setHitFraction( result.m_fraction);
+
+ if (col1->getHitFraction() > result.m_fraction)
+ col1->setHitFraction( result.m_fraction);
+
+ if (resultFraction > result.m_fraction)
+ resultFraction = result.m_fraction;
+
+ }
+ }
+
+ return resultFraction;
+
+}
+
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,95 @@
+/*
+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.
+*/
+
+#ifndef CONVEX_2D_CONVEX_2D_ALGORITHM_H
+#define CONVEX_2D_CONVEX_2D_ALGORITHM_H
+
+#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
+
+class btConvexPenetrationDepthSolver;
+
+
+///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
+///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
+class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
+{
+ btSimplexSolverInterface* m_simplexSolver;
+ btConvexPenetrationDepthSolver* m_pdSolver;
+
+
+ bool m_ownManifold;
+ btPersistentManifold* m_manifoldPtr;
+ bool m_lowLevelOfDetail;
+
+ int m_numPerturbationIterations;
+ int m_minimumPointsPerturbationThreshold;
+
+public:
+
+ btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
+
+
+ virtual ~btConvex2dConvex2dAlgorithm();
+
+ virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+ virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+ virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
+ {
+ ///should we use m_ownManifold to avoid adding duplicates?
+ if (m_manifoldPtr && m_ownManifold)
+ manifoldArray.push_back(m_manifoldPtr);
+ }
+
+
+ void setLowLevelOfDetail(bool useLowLevel);
+
+
+ const btPersistentManifold* getManifold()
+ {
+ return m_manifoldPtr;
+ }
+
+ struct CreateFunc :public btCollisionAlgorithmCreateFunc
+ {
+
+ btConvexPenetrationDepthSolver* m_pdSolver;
+ btSimplexSolverInterface* m_simplexSolver;
+ int m_numPerturbationIterations;
+ int m_minimumPointsPerturbationThreshold;
+
+ CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
+
+ virtual ~CreateFunc();
+
+ virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+ {
+ void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
+ return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+ }
+ };
+
+
+};
+
+#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -95,7 +95,7 @@
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
- btVector3 color(255,255,0);
+ btVector3 color(1,1,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
@@ -121,12 +121,16 @@
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
- ///this should use the btDispatcher, so the actual registered algorithm is used
- // btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
- m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
- // cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
-// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+ if (m_resultOut->getBody0Internal() == m_triBody)
+ {
+ m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
+ }
+ else
+ {
+ m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
+ }
+
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -13,6 +13,11 @@
3. This notice may not be removed or altered from any source distribution.
*/
+///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance
+///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
+///with reproduction case
+//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
+
#include "btConvexConvexAlgorithm.h"
//#include <stdio.h>
@@ -20,6 +25,9 @@
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+
+
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -43,12 +51,131 @@
+///////////
+static SIMD_FORCE_INLINE void segmentsClosestPoints(
+ btVector3& ptsVector,
+ btVector3& offsetA,
+ btVector3& offsetB,
+ btScalar& tA, btScalar& tB,
+ const btVector3& translation,
+ const btVector3& dirA, btScalar hlenA,
+ const btVector3& dirB, btScalar hlenB )
+{
+ // compute the parameters of the closest points on each line segment
+ btScalar dirA_dot_dirB = btDot(dirA,dirB);
+ btScalar dirA_dot_trans = btDot(dirA,translation);
+ btScalar dirB_dot_trans = btDot(dirB,translation);
+ btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
+ if ( denom == 0.0f ) {
+ tA = 0.0f;
+ } else {
+ tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
+ if ( tA < -hlenA )
+ tA = -hlenA;
+ else if ( tA > hlenA )
+ tA = hlenA;
+ }
+
+ tB = tA * dirA_dot_dirB - dirB_dot_trans;
+
+ if ( tB < -hlenB ) {
+ tB = -hlenB;
+ tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+ if ( tA < -hlenA )
+ tA = -hlenA;
+ else if ( tA > hlenA )
+ tA = hlenA;
+ } else if ( tB > hlenB ) {
+ tB = hlenB;
+ tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+ if ( tA < -hlenA )
+ tA = -hlenA;
+ else if ( tA > hlenA )
+ tA = hlenA;
+ }
+
+ // compute the closest points relative to segment centers.
+
+ offsetA = dirA * tA;
+ offsetB = dirB * tB;
+
+ ptsVector = translation - offsetA + offsetB;
+}
+
+
+static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
+ btVector3& normalOnB,
+ btVector3& pointOnB,
+ btScalar capsuleLengthA,
+ btScalar capsuleRadiusA,
+ btScalar capsuleLengthB,
+ btScalar capsuleRadiusB,
+ int capsuleAxisA,
+ int capsuleAxisB,
+ const btTransform& transformA,
+ const btTransform& transformB,
+ btScalar distanceThreshold )
+{
+ btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
+ btVector3 translationA = transformA.getOrigin();
+ btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB);
+ btVector3 translationB = transformB.getOrigin();
+
+ // translation between centers
+
+ btVector3 translation = translationB - translationA;
+
+ // compute the closest points of the capsule line segments
+
+ btVector3 ptsVector; // the vector between the closest points
+
+ btVector3 offsetA, offsetB; // offsets from segment centers to their closest points
+ btScalar tA, tB; // parameters on line segment
+
+ segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation,
+ directionA, capsuleLengthA, directionB, capsuleLengthB );
+
+ btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
+
+ if ( distance > distanceThreshold )
+ return distance;
+
+ btScalar lenSqr = ptsVector.length2();
+ if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON))
+ {
+ //degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
+ btVector3 q;
+ btPlaneSpace1(directionA,normalOnB,q);
+ } else
+ {
+ // compute the contact normal
+ normalOnB = ptsVector*-btRecipSqrt(lenSqr);
+ }
+ pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB;
+
+ return distance;
+}
+
+
+
+
+
+
+
+//////////
+
+
+
+
+
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_numPerturbationIterations = 0;
@@ -69,7 +196,7 @@
m_manifoldPtr(mf),
m_lowLevelOfDetail(false),
#ifdef USE_SEPDISTANCE_UTIL2
-,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
+m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
#endif
m_numPerturbationIterations(numPerturbationIterations),
@@ -111,8 +238,8 @@
:m_originalManifoldResult(originalResult),
m_transformA(transformA),
m_transformB(transformB),
+ m_unPerturbedTransform(unPerturbedTransform),
m_perturbA(perturbA),
- m_unPerturbedTransform(unPerturbedTransform),
m_debugDrawer(debugDrawer)
{
}
@@ -155,6 +282,7 @@
extern btScalar gContactBreakingThreshold;
+
//
// Convex-Convex collision algorithm
//
@@ -176,8 +304,39 @@
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
+ btVector3 normalOnB;
+ btVector3 pointOnBWorld;
+#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
+ if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
+ {
+ btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
+ btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
+ btVector3 localScalingA = capsuleA->getLocalScaling();
+ btVector3 localScalingB = capsuleB->getLocalScaling();
+
+ btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+
+ btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
+ capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
+ body0->getWorldTransform(),body1->getWorldTransform(),threshold);
+
+ if (dist<threshold)
+ {
+ btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
+ resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
+ }
+ resultOut->refreshContactPoints();
+ return;
+ }
+#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
+
+
#ifdef USE_SEPDISTANCE_UTIL2
- m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
+ if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+ {
+ m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
+ }
+
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
@@ -194,11 +353,17 @@
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
- input.m_maximumDistanceSquared = 1e30f;
+ input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
} else
#endif //USE_SEPDISTANCE_UTIL2
{
- input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+ if (dispatchInfo.m_convexMaxDistanceUseCPT)
+ {
+ input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
+ } else
+ {
+ input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+ }
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
@@ -207,20 +372,37 @@
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
- btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
- //now perturbe directions to get multiple contact points
- btVector3 v0,v1;
- btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
- btPlaneSpace1(sepNormalWorldSpace,v0,v1);
+
+
+#ifdef USE_SEPDISTANCE_UTIL2
+ btScalar sepDist = 0.f;
+ if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+ {
+ sepDist = gjkPairDetector.getCachedSeparatingDistance();
+ if (sepDist>SIMD_EPSILON)
+ {
+ sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
+ //now perturbe directions to get multiple contact points
+
+ }
+ }
+#endif //USE_SEPDISTANCE_UTIL2
+
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
- if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
+ if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
+ btVector3 v0,v1;
+ btVector3 sepNormalWorldSpace;
+
+ sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
+ btPlaneSpace1(sepNormalWorldSpace,v0,v1);
+
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
@@ -249,6 +431,8 @@
for ( i=0;i<m_numPerturbationIterations;i++)
{
+ if (v0.length2()>SIMD_EPSILON)
+ {
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
@@ -272,15 +456,15 @@
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
+ }
-
}
}
#ifdef USE_SEPDISTANCE_UTIL2
- if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+ if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -31,8 +31,9 @@
///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
///for certain pairs that have a small size ratio
-///#define USE_SEPDISTANCE_UTIL2 1
+//#define USE_SEPDISTANCE_UTIL2 1
+
///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -102,9 +102,9 @@
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
- bool hasCollision = false;
+
const btVector3& planeNormal = planeShape->getPlaneNormal();
- const btScalar& planeConstant = planeShape->getPlaneConstant();
+ //const btScalar& planeConstant = planeShape->getPlaneConstant();
//first perform a collision query with the non-perturbated collision objects
{
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -60,8 +60,8 @@
int m_minimumPointsPerturbationThreshold;
CreateFunc()
- : m_numPerturbationIterations(3),
- m_minimumPointsPerturbationThreshold(3)
+ : m_numPerturbationIterations(1),
+ m_minimumPointsPerturbationThreshold(1)
{
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -45,17 +45,17 @@
void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
m_simplexSolver = new (mem)btVoronoiSimplexSolver();
+
+ if (constructionInfo.m_useEpaPenetrationAlgorithm)
+ {
+ mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
+ m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
+ }else
+ {
+ mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
+ m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
+ }
-#define USE_EPA 1
-#ifdef USE_EPA
- mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
- m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
-#else
- mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
- m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
-#endif//USE_EPA
-
-
//default CreationFunctions, filling the m_doubleDispatch table
mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
@@ -102,7 +102,8 @@
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int sl = sizeof(btConvexSeparatingDistanceUtil);
sl = sizeof(btGjkPairDetector);
- int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
+ int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
+ collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
if (constructionInfo.m_stackAlloc)
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -27,7 +27,9 @@
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
+ int m_customCollisionAlgorithmMaxElementSize;
int m_defaultStackAllocatorSize;
+ int m_useEpaPenetrationAlgorithm;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
@@ -35,7 +37,9 @@
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(4096),
m_defaultMaxCollisionAlgorithmPoolSize(4096),
- m_defaultStackAllocatorSize(0)
+ m_customCollisionAlgorithmMaxElementSize(0),
+ m_defaultStackAllocatorSize(0),
+ m_useEpaPenetrationAlgorithm(true)
{
}
};
@@ -108,7 +112,12 @@
return m_stackAlloc;
}
+ virtual btVoronoiSimplexSolver* getSimplexSolver()
+ {
+ return m_simplexSolver;
+ }
+
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btGhostObject.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btGhostObject.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btGhostObject.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -160,7 +160,7 @@
return 0;
}
- virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
+ virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
{
btAssert(0);
//need to keep track of all ghost objects and call them here
@@ -171,4 +171,5 @@
};
-#endif
\ No newline at end of file
+#endif
+
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,772 @@
+#include "btInternalEdgeUtility.h"
+
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+#include "LinearMath/btIDebugDraw.h"
+
+
+//#define DEBUG_INTERNAL_EDGE
+
+
+#ifdef DEBUG_INTERNAL_EDGE
+#include <stdio.h>
+#endif //DEBUG_INTERNAL_EDGE
+
+
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+static btIDebugDraw* gDebugDrawer = 0;
+
+void btSetDebugDrawer(btIDebugDraw* debugDrawer)
+{
+ gDebugDrawer = debugDrawer;
+}
+
+static void btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color)
+{
+ if (gDebugDrawer)
+ gDebugDrawer->drawLine(from,to,color);
+}
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+
+static int btGetHash(int partId, int triangleIndex)
+{
+ int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+ return hash;
+}
+
+
+
+static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB)
+{
+ const btVector3 refAxis0 = edgeA;
+ const btVector3 refAxis1 = normalA;
+ const btVector3 swingAxis = normalB;
+ btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
+ return angle;
+}
+
+
+struct btConnectivityProcessor : public btTriangleCallback
+{
+ int m_partIdA;
+ int m_triangleIndexA;
+ btVector3* m_triangleVerticesA;
+ btTriangleInfoMap* m_triangleInfoMap;
+
+
+ virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
+ {
+ //skip self-collisions
+ if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex))
+ return;
+
+ //skip duplicates (disabled for now)
+ //if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex))
+ // return;
+
+ //search for shared vertices and edges
+ int numshared = 0;
+ int sharedVertsA[3]={-1,-1,-1};
+ int sharedVertsB[3]={-1,-1,-1};
+
+ ///skip degenerate triangles
+ btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
+ if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
+ return;
+
+
+ btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
+ ///skip degenerate triangles
+ if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
+ return;
+
+#if 0
+ printf("triangle A[0] = (%f,%f,%f)\ntriangle A[1] = (%f,%f,%f)\ntriangle A[2] = (%f,%f,%f)\n",
+ m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
+ m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(),
+ m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ());
+
+ printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex);
+ printf("triangle B[0] = (%f,%f,%f)\ntriangle B[1] = (%f,%f,%f)\ntriangle B[2] = (%f,%f,%f)\n",
+ triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(),
+ triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(),
+ triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
+#endif
+
+ for (int i=0;i<3;i++)
+ {
+ for (int j=0;j<3;j++)
+ {
+ if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
+ {
+ sharedVertsA[numshared] = i;
+ sharedVertsB[numshared] = j;
+ numshared++;
+ ///degenerate case
+ if(numshared >= 3)
+ return;
+ }
+ }
+ ///degenerate case
+ if(numshared >= 3)
+ return;
+ }
+ switch (numshared)
+ {
+ case 0:
+ {
+ break;
+ }
+ case 1:
+ {
+ //shared vertex
+ break;
+ }
+ case 2:
+ {
+ //shared edge
+ //we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
+ if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2)
+ {
+ sharedVertsA[0] = 2;
+ sharedVertsA[1] = 0;
+ int tmp = sharedVertsB[1];
+ sharedVertsB[1] = sharedVertsB[0];
+ sharedVertsB[0] = tmp;
+ }
+
+ int hash = btGetHash(m_partIdA,m_triangleIndexA);
+
+ btTriangleInfo* info = m_triangleInfoMap->find(hash);
+ if (!info)
+ {
+ btTriangleInfo tmp;
+ m_triangleInfoMap->insert(hash,tmp);
+ info = m_triangleInfoMap->find(hash);
+ }
+
+ int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
+ int otherIndexA = 3-sumvertsA;
+
+
+ btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
+
+ btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
+ int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]);
+
+ btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]);
+ //btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
+
+ btVector3 normalA;
+ btVector3 normalB;
+ tA.calcNormal(normalA);
+ tB.calcNormal(normalB);
+ edge.normalize();
+ btVector3 edgeCrossA = edge.cross(normalA).normalize();
+
+ {
+ btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]];
+ if (edgeCrossA.dot(tmp) < 0)
+ {
+ edgeCrossA*=-1;
+ }
+ }
+
+ btVector3 edgeCrossB = edge.cross(normalB).normalize();
+
+ {
+ btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]];
+ if (edgeCrossB.dot(tmp) < 0)
+ {
+ edgeCrossB*=-1;
+ }
+ }
+
+ btScalar angle2 = 0;
+ btScalar ang4 = 0.f;
+
+
+ btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
+ btScalar len2 = calculatedEdge.length2();
+
+ btScalar correctedAngle(0);
+ btVector3 calculatedNormalB = normalA;
+ bool isConvex = false;
+
+ if (len2<m_triangleInfoMap->m_planarEpsilon)
+ {
+ angle2 = 0.f;
+ ang4 = 0.f;
+ } else
+ {
+
+ calculatedEdge.normalize();
+ btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
+ calculatedNormalA.normalize();
+ angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
+ ang4 = SIMD_PI-angle2;
+ btScalar dotA = normalA.dot(edgeCrossB);
+ ///@todo: check if we need some epsilon, due to floating point imprecision
+ isConvex = (dotA<0.);
+
+ correctedAngle = isConvex ? ang4 : -ang4;
+ btQuaternion orn2(calculatedEdge,-correctedAngle);
+ calculatedNormalB = btMatrix3x3(orn2)*normalA;
+
+
+ }
+
+
+
+
+
+ //alternatively use
+ //btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
+
+
+ switch (sumvertsA)
+ {
+ case 1:
+ {
+ btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
+ btQuaternion orn(edge,-correctedAngle);
+ btVector3 computedNormalB = quatRotate(orn,normalA);
+ btScalar bla = computedNormalB.dot(normalB);
+ if (bla<0)
+ {
+ computedNormalB*=-1;
+ info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
+ }
+#ifdef DEBUG_INTERNAL_EDGE
+ if ((computedNormalB-normalB).length()>0.0001)
+ {
+ printf("warning: normals not identical\n");
+ }
+#endif//DEBUG_INTERNAL_EDGE
+
+ info->m_edgeV0V1Angle = -correctedAngle;
+
+ if (isConvex)
+ info->m_flags |= TRI_INFO_V0V1_CONVEX;
+ break;
+ }
+ case 2:
+ {
+ btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
+ btQuaternion orn(edge,-correctedAngle);
+ btVector3 computedNormalB = quatRotate(orn,normalA);
+ if (computedNormalB.dot(normalB)<0)
+ {
+ computedNormalB*=-1;
+ info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
+ }
+
+#ifdef DEBUG_INTERNAL_EDGE
+ if ((computedNormalB-normalB).length()>0.0001)
+ {
+ printf("warning: normals not identical\n");
+ }
+#endif //DEBUG_INTERNAL_EDGE
+ info->m_edgeV2V0Angle = -correctedAngle;
+ if (isConvex)
+ info->m_flags |= TRI_INFO_V2V0_CONVEX;
+ break;
+ }
+ case 3:
+ {
+ btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
+ btQuaternion orn(edge,-correctedAngle);
+ btVector3 computedNormalB = quatRotate(orn,normalA);
+ if (computedNormalB.dot(normalB)<0)
+ {
+ info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
+ computedNormalB*=-1;
+ }
+#ifdef DEBUG_INTERNAL_EDGE
+ if ((computedNormalB-normalB).length()>0.0001)
+ {
+ printf("warning: normals not identical\n");
+ }
+#endif //DEBUG_INTERNAL_EDGE
+ info->m_edgeV1V2Angle = -correctedAngle;
+
+ if (isConvex)
+ info->m_flags |= TRI_INFO_V1V2_CONVEX;
+ break;
+ }
+ }
+
+ break;
+ }
+ default:
+ {
+ // printf("warning: duplicate triangle\n");
+ }
+
+ }
+ }
+};
+/////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////
+
+void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap)
+{
+ //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
+ if (trimeshShape->getTriangleInfoMap())
+ return;
+
+ trimeshShape->setTriangleInfoMap(triangleInfoMap);
+
+ btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
+ const btVector3& meshScaling = meshInterface->getScaling();
+
+ for (int partId = 0; partId< meshInterface->getNumSubParts();partId++)
+ {
+ const unsigned char *vertexbase = 0;
+ int numverts = 0;
+ PHY_ScalarType type = PHY_INTEGER;
+ int stride = 0;
+ const unsigned char *indexbase = 0;
+ int indexstride = 0;
+ int numfaces = 0;
+ PHY_ScalarType indicestype = PHY_INTEGER;
+ //PHY_ScalarType indexType=0;
+
+ btVector3 triangleVerts[3];
+ meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
+ btVector3 aabbMin,aabbMax;
+
+ for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
+ {
+ unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
+
+ for (int j=2;j>=0;j--)
+ {
+
+ int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+ if (type == PHY_FLOAT)
+ {
+ float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+ triangleVerts[j] = btVector3(
+ graphicsbase[0]*meshScaling.getX(),
+ graphicsbase[1]*meshScaling.getY(),
+ graphicsbase[2]*meshScaling.getZ());
+ }
+ else
+ {
+ double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+ triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
+ }
+ }
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+ aabbMin.setMin(triangleVerts[0]);
+ aabbMax.setMax(triangleVerts[0]);
+ aabbMin.setMin(triangleVerts[1]);
+ aabbMax.setMax(triangleVerts[1]);
+ aabbMin.setMin(triangleVerts[2]);
+ aabbMax.setMax(triangleVerts[2]);
+
+ btConnectivityProcessor connectivityProcessor;
+ connectivityProcessor.m_partIdA = partId;
+ connectivityProcessor.m_triangleIndexA = triangleIndex;
+ connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
+ connectivityProcessor.m_triangleInfoMap = triangleInfoMap;
+
+ trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax);
+ }
+
+ }
+
+}
+
+
+
+
+// Given a point and a line segment (defined by two points), compute the closest point
+// in the line. Cap the point at the endpoints of the line segment.
+void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
+{
+ btVector3 lineDelta = line1 - line0;
+
+ // Handle degenerate lines
+ if ( lineDelta.fuzzyZero())
+ {
+ nearestPoint = line0;
+ }
+ else
+ {
+ btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
+
+ // Clamp the point to conform to the segment's endpoints
+ if ( delta < 0 )
+ delta = 0;
+ else if ( delta > 1 )
+ delta = 1;
+
+ nearestPoint = line0 + lineDelta*delta;
+ }
+}
+
+
+
+
+bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal)
+{
+ btVector3 tri_normal = tri_normal_org;
+ //we only have a local triangle normal, not a local contact normal -> only normal in world space...
+ //either compute the current angle all in local space, or all in world space
+
+ btVector3 edgeCross = edge.cross(tri_normal).normalize();
+ btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
+
+ if (correctedEdgeAngle<0)
+ {
+ if (curAngle < correctedEdgeAngle)
+ {
+ btScalar diffAngle = correctedEdgeAngle-curAngle;
+ btQuaternion rotation(edge,diffAngle );
+ clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
+ return true;
+ }
+ }
+
+ if (correctedEdgeAngle>=0)
+ {
+ if (curAngle > correctedEdgeAngle)
+ {
+ btScalar diffAngle = correctedEdgeAngle-curAngle;
+ btQuaternion rotation(edge,diffAngle );
+ clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
+ return true;
+ }
+ }
+ return false;
+}
+
+
+
+/// Changes a btManifoldPoint collision normal to the normal from the mesh.
+void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
+{
+ //btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
+ if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
+ return;
+
+ btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
+ btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
+ if (!triangleInfoMapPtr)
+ return;
+
+ int hash = btGetHash(partId0,index0);
+
+
+ btTriangleInfo* info = triangleInfoMapPtr->find(hash);
+ if (!info)
+ return;
+
+ btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
+
+ const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
+ btVector3 v0,v1,v2;
+ tri_shape->getVertex(0,v0);
+ tri_shape->getVertex(1,v1);
+ tri_shape->getVertex(2,v2);
+
+ btVector3 center = (v0+v1+v2)*btScalar(1./3.);
+
+ btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
+ btVector3 tri_normal;
+ tri_shape->calcNormal(tri_normal);
+
+ //btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
+ btVector3 nearest;
+ btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
+
+ btVector3 contact = cp.m_localPointB;
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ const btTransform& tr = colObj0->getWorldTransform();
+ btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+
+
+ bool isNearEdge = false;
+
+ int numConcaveEdgeHits = 0;
+ int numConvexEdgeHits = 0;
+
+ btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+ localContactNormalOnB.normalize();//is this necessary?
+
+ if ((info->m_edgeV0V1Angle)< SIMD_2_PI)
+ {
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
+#endif
+ btScalar len = (contact-nearest).length();
+ if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+ {
+ btVector3 edge(v0-v1);
+ isNearEdge = true;
+
+ if (info->m_edgeV0V1Angle==btScalar(0))
+ {
+ numConcaveEdgeHits++;
+ } else
+ {
+
+ bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
+ btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ btVector3 nA = swapFactor * tri_normal;
+
+ btQuaternion orn(edge,info->m_edgeV0V1Angle);
+ btVector3 computedNormalB = quatRotate(orn,tri_normal);
+ if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
+ computedNormalB*=-1;
+ btVector3 nB = swapFactor*computedNormalB;
+
+ btScalar NdotA = localContactNormalOnB.dot(nA);
+ btScalar NdotB = localContactNormalOnB.dot(nB);
+ bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
+
+#ifdef DEBUG_INTERNAL_EDGE
+ {
+
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
+ }
+#endif //DEBUG_INTERNAL_EDGE
+
+
+ if (backFacingNormal)
+ {
+ numConcaveEdgeHits++;
+ }
+ else
+ {
+ numConvexEdgeHits++;
+ btVector3 clampedLocalNormal;
+ bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
+ if (isClamped)
+ {
+ if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
+ {
+ btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+ // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
+ cp.m_normalWorldOnB = newNormal;
+ // Reproject collision point along normal. (what about cp.m_distance1?)
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+
+ }
+ }
+ }
+ }
+ }
+ }
+
+ btNearestPointInLineSegment(contact,v1,v2,nearest);
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ if ((info->m_edgeV1V2Angle)< SIMD_2_PI)
+ {
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+
+
+ btScalar len = (contact-nearest).length();
+ if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+ {
+ isNearEdge = true;
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ btVector3 edge(v1-v2);
+
+ isNearEdge = true;
+
+ if (info->m_edgeV1V2Angle == btScalar(0))
+ {
+ numConcaveEdgeHits++;
+ } else
+ {
+ bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0;
+ btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ btVector3 nA = swapFactor * tri_normal;
+
+ btQuaternion orn(edge,info->m_edgeV1V2Angle);
+ btVector3 computedNormalB = quatRotate(orn,tri_normal);
+ if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
+ computedNormalB*=-1;
+ btVector3 nB = swapFactor*computedNormalB;
+
+#ifdef DEBUG_INTERNAL_EDGE
+ {
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
+ }
+#endif //DEBUG_INTERNAL_EDGE
+
+
+ btScalar NdotA = localContactNormalOnB.dot(nA);
+ btScalar NdotB = localContactNormalOnB.dot(nB);
+ bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
+
+ if (backFacingNormal)
+ {
+ numConcaveEdgeHits++;
+ }
+ else
+ {
+ numConvexEdgeHits++;
+ btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+ btVector3 clampedLocalNormal;
+ bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
+ if (isClamped)
+ {
+ if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
+ {
+ btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+ // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
+ cp.m_normalWorldOnB = newNormal;
+ // Reproject collision point along normal.
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+ }
+ }
+ }
+ }
+ }
+ }
+
+ btNearestPointInLineSegment(contact,v2,v0,nearest);
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ if ((info->m_edgeV2V0Angle)< SIMD_2_PI)
+ {
+
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ btScalar len = (contact-nearest).length();
+ if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+ {
+ isNearEdge = true;
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ btVector3 edge(v2-v0);
+
+ if (info->m_edgeV2V0Angle==btScalar(0))
+ {
+ numConcaveEdgeHits++;
+ } else
+ {
+
+ bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0;
+ btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+ btVector3 nA = swapFactor * tri_normal;
+ btQuaternion orn(edge,info->m_edgeV2V0Angle);
+ btVector3 computedNormalB = quatRotate(orn,tri_normal);
+ if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
+ computedNormalB*=-1;
+ btVector3 nB = swapFactor*computedNormalB;
+
+#ifdef DEBUG_INTERNAL_EDGE
+ {
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
+ }
+#endif //DEBUG_INTERNAL_EDGE
+
+ btScalar NdotA = localContactNormalOnB.dot(nA);
+ btScalar NdotB = localContactNormalOnB.dot(nB);
+ bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
+
+ if (backFacingNormal)
+ {
+ numConcaveEdgeHits++;
+ }
+ else
+ {
+ numConvexEdgeHits++;
+ // printf("hitting convex edge\n");
+
+
+ btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
+ btVector3 clampedLocalNormal;
+ bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
+ if (isClamped)
+ {
+ if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
+ {
+ btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
+ // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
+ cp.m_normalWorldOnB = newNormal;
+ // Reproject collision point along normal.
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+ }
+ }
+ }
+ }
+
+
+ }
+ }
+
+#ifdef DEBUG_INTERNAL_EDGE
+ {
+ btVector3 color(0,1,1);
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
+ }
+#endif //DEBUG_INTERNAL_EDGE
+
+ if (isNearEdge)
+ {
+
+ if (numConcaveEdgeHits>0)
+ {
+ if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0)
+ {
+ //fix tri_normal so it pointing the same direction as the current local contact normal
+ if (tri_normal.dot(localContactNormalOnB) < 0)
+ {
+ tri_normal *= -1;
+ }
+ cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
+ } else
+ {
+ //modify the normal to be the triangle normal (or backfacing normal)
+ cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *(tri_normal *frontFacing);
+ }
+
+
+ // Reproject collision point along normal.
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
+ }
+ }
+}
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,46 @@
+
+#ifndef BT_INTERNAL_EDGE_UTILITY_H
+#define BT_INTERNAL_EDGE_UTILITY_H
+
+#include "LinearMath/btHashMap.h"
+#include "LinearMath/btVector3.h"
+
+#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
+
+///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges.
+///See also http://code.google.com/p/bullet/issues/detail?id=27
+
+class btBvhTriangleMeshShape;
+class btCollisionObject;
+class btManifoldPoint;
+class btIDebugDraw;
+
+
+
+enum btInternalEdgeAdjustFlags
+{
+ BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
+ BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended
+ BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
+};
+
+
+///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
+void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap);
+
+
+///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
+///If this info map is missing, or the triangle is not store in this map, nothing will be done
+void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
+
+///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
+///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
+//#define BT_INTERNAL_EDGE_DEBUG_DRAW
+
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+void btSetDebugDrawer(btIDebugDraw* debugDrawer);
+#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+
+
+#endif //BT_INTERNAL_EDGE_UTILITY_H
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -47,6 +47,12 @@
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
+#ifdef DEBUG_PART_INDEX
+ ,m_partId0(-1),
+ m_partId1(-1),
+ m_index0(-1),
+ m_index1(-1)
+#endif //DEBUG_PART_INDEX
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
@@ -88,10 +94,19 @@
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
//BP mod, store contact triangles.
- newPt.m_partId0 = m_partId0;
- newPt.m_partId1 = m_partId1;
- newPt.m_index0 = m_index0;
- newPt.m_index1 = m_index1;
+ if (isSwapped)
+ {
+ newPt.m_partId0 = m_partId1;
+ newPt.m_partId1 = m_partId0;
+ newPt.m_index0 = m_index1;
+ newPt.m_index1 = m_index0;
+ } else
+ {
+ newPt.m_partId0 = m_partId0;
+ newPt.m_partId1 = m_partId1;
+ newPt.m_index0 = m_index0;
+ newPt.m_index1 = m_index1;
+ }
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
@@ -112,7 +127,7 @@
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
- (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
+ (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
}
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -28,11 +28,14 @@
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
+//#define DEBUG_PART_INDEX 1
///btManifoldResult is a helper class to manage contact results.
class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
{
+protected:
+
btPersistentManifold* m_manifoldPtr;
//we need this for compounds
@@ -50,6 +53,13 @@
public:
btManifoldResult()
+#ifdef DEBUG_PART_INDEX
+ :
+ m_partId0(-1),
+ m_partId1(-1),
+ m_index0(-1),
+ m_index1(-1)
+#endif //DEBUG_PART_INDEX
{
}
@@ -71,15 +81,19 @@
return m_manifoldPtr;
}
- virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
+ virtual void setShapeIdentifiersA(int partId0,int index0)
{
- m_partId0=partId0;
- m_partId1=partId1;
- m_index0=index0;
- m_index1=index1;
+ m_partId0=partId0;
+ m_index0=index0;
}
+ virtual void setShapeIdentifiersB( int partId1,int index1)
+ {
+ m_partId1=partId1;
+ m_index1=index1;
+ }
+
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
SIMD_FORCE_INLINE void refreshContactPoints()
@@ -99,7 +113,16 @@
}
}
+ const btCollisionObject* getBody0Internal() const
+ {
+ return m_body0;
+ }
+ const btCollisionObject* getBody1Internal() const
+ {
+ return m_body1;
+ }
+
};
#endif //MANIFOLD_RESULT_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,3 +1,4 @@
+
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
@@ -44,10 +45,12 @@
{
{
+ btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
+ const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
+ btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
- for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
+ for (int i=0;i<numOverlappingPairs;i++)
{
- btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
const btBroadphasePair& collisionPair = pairPtr[i];
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@@ -63,15 +66,69 @@
}
}
+#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
+void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
+{
+ // put the index into m_controllers into m_tag
+ int index = 0;
+ {
+
+ int i;
+ for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
+ {
+ btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
+ //Adding filtering here
+ if (!collisionObject->isStaticOrKinematicObject())
+ {
+ collisionObject->setIslandTag(index++);
+ }
+ collisionObject->setCompanionId(-1);
+ collisionObject->setHitFraction(btScalar(1.));
+ }
+ }
+ // do the union find
+
+ initUnionFind( index );
+
+ findUnions(dispatcher,colWorld);
+}
+
+void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
+{
+ // put the islandId ('find' value) into m_tag
+ {
+ int index = 0;
+ int i;
+ for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
+ {
+ btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
+ if (!collisionObject->isStaticOrKinematicObject())
+ {
+ collisionObject->setIslandTag( m_unionFind.find(index) );
+ //Set the correct object offset in Collision Object Array
+ m_unionFind.getElement(index).m_sz = i;
+ collisionObject->setCompanionId(-1);
+ index++;
+ } else
+ {
+ collisionObject->setIslandTag(-1);
+ collisionObject->setCompanionId(-2);
+ }
+ }
+ }
+}
+
+
+#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
-
+
initUnionFind( int (colWorld->getCollisionObjectArray().size()));
-
+
// put the index into m_controllers into m_tag
{
-
+
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
@@ -81,26 +138,20 @@
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
index++;
-
+
}
}
// do the union find
-
+
findUnions(dispatcher,colWorld);
-
-
-
}
-
-
-
void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
-
-
+
+
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
@@ -120,6 +171,8 @@
}
}
+#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
+
inline int getIslandId(const btPersistentManifold* lhs)
{
int islandId;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -59,7 +59,7 @@
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
- input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
+ input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
input.m_transformA = sphereObj->getWorldTransform();
input.m_transformB = triObj->getWorldTransform();
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -70,7 +70,9 @@
for (int i=0;i<numElements;i++)
{
m_elements[i].m_id = find(i);
+#ifndef STATIC_SIMULATION_ISLAND_OPTIMIZATION
m_elements[i].m_sz = i;
+#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
}
// Sort the vector using predicate and std::sort
@@ -78,4 +80,3 @@
m_elements.quickSort(btUnionFindElementSortPredicate());
}
-
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionDispatch/btUnionFind.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -18,8 +18,11 @@
#include "LinearMath/btAlignedObjectArray.h"
- #define USE_PATH_COMPRESSION 1
+#define USE_PATH_COMPRESSION 1
+///see for discussion of static island optimizations by Vroonsh here: http://code.google.com/p/bullet/issues/detail?id=406
+#define STATIC_SIMULATION_ISLAND_OPTIMIZATION 1
+
struct btElement
{
int m_id;
@@ -106,10 +109,12 @@
//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
#ifdef USE_PATH_COMPRESSION
- //
- m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
- #endif //
+ const btElement* elementPtr = &m_elements[m_elements[x].m_id];
+ m_elements[x].m_id = elementPtr->m_id;
+ x = elementPtr->m_id;
+ #else//
x = m_elements[x].m_id;
+ #endif
//btAssert(x < m_N);
//btAssert(x >= 0);
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,42 @@
+/*
+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 "btBox2dShape.h"
+
+
+//{
+
+
+void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+ btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+}
+
+
+void btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+ //btScalar margin = btScalar(0.);
+ btVector3 halfExtents = getHalfExtentsWithMargin();
+
+ 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));
+
+}
+
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBox2dShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,363 @@
+/*
+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.
+*/
+
+#ifndef OBB_BOX_2D_SHAPE_H
+#define OBB_BOX_2D_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMinMax.h"
+
+///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
+class btBox2dShape: public btPolyhedralConvexShape
+{
+
+ //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
+
+ btVector3 m_centroid;
+ btVector3 m_vertices[4];
+ btVector3 m_normals[4];
+
+public:
+
+ 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 btVector3 localGetSupportingVertex(const btVector3& vec) const
+ {
+ 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()));
+ }
+
+ SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+ {
+ 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()));
+ }
+
+ virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+ {
+ const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+
+ for (int i=0;i<numVectors;i++)
+ {
+ const btVector3& vec = vectors[i];
+ supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+ btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+ btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+ }
+
+ }
+
+
+ btBox2dShape( const btVector3& boxHalfExtents)
+ : btPolyhedralConvexShape(),
+ m_centroid(0,0,0)
+ {
+ m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
+ m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
+ m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
+ m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
+
+ m_normals[0].setValue(0,-1,0);
+ m_normals[1].setValue(1,0,0);
+ m_normals[2].setValue(0,1,0);
+ m_normals[3].setValue(-1,0,0);
+
+ m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
+ 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;
+
+
+
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+
+
+
+
+ int getVertexCount() const
+ {
+ return 4;
+ }
+
+ virtual int getNumVertices()const
+ {
+ return 4;
+ }
+
+ const btVector3* getVertices() const
+ {
+ return &m_vertices[0];
+ }
+
+ const btVector3* getNormals() const
+ {
+ return &m_normals[0];
+ }
+
+
+
+
+
+
+
+ virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+ {
+ //this plane might not be aligned...
+ btVector4 plane ;
+ getPlaneEquation(plane,i);
+ planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+ planeSupport = localGetSupportingVertex(-planeNormal);
+ }
+
+
+ const btVector3& getCentroid() const
+ {
+ return m_centroid;
+ }
+
+ virtual int getNumPlanes() const
+ {
+ return 6;
+ }
+
+
+
+ virtual int getNumEdges() const
+ {
+ return 12;
+ }
+
+
+ virtual void getVertex(int i,btVector3& vtx) const
+ {
+ btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+ vtx = btVector3(
+ halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
+ halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
+ halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+ }
+
+
+ virtual void getPlaneEquation(btVector4& plane,int i) const
+ {
+ btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+ switch (i)
+ {
+ case 0:
+ plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+ break;
+ case 1:
+ plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+ break;
+ case 2:
+ plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
+ break;
+ case 3:
+ plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
+ break;
+ case 4:
+ plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
+ break;
+ case 5:
+ plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
+ break;
+ default:
+ btAssert(0);
+ }
+ }
+
+
+ virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+ //virtual void getEdge(int i,Edge& edge) const
+ {
+ int edgeVert0 = 0;
+ int edgeVert1 = 0;
+
+ switch (i)
+ {
+ case 0:
+ edgeVert0 = 0;
+ edgeVert1 = 1;
+ break;
+ case 1:
+ edgeVert0 = 0;
+ edgeVert1 = 2;
+ break;
+ case 2:
+ edgeVert0 = 1;
+ edgeVert1 = 3;
+
+ break;
+ case 3:
+ edgeVert0 = 2;
+ edgeVert1 = 3;
+ break;
+ case 4:
+ edgeVert0 = 0;
+ edgeVert1 = 4;
+ break;
+ case 5:
+ edgeVert0 = 1;
+ edgeVert1 = 5;
+
+ break;
+ case 6:
+ edgeVert0 = 2;
+ edgeVert1 = 6;
+ break;
+ case 7:
+ edgeVert0 = 3;
+ edgeVert1 = 7;
+ break;
+ case 8:
+ edgeVert0 = 4;
+ edgeVert1 = 5;
+ break;
+ case 9:
+ edgeVert0 = 4;
+ edgeVert1 = 6;
+ break;
+ case 10:
+ edgeVert0 = 5;
+ edgeVert1 = 7;
+ break;
+ case 11:
+ edgeVert0 = 6;
+ edgeVert1 = 7;
+ break;
+ default:
+ btAssert(0);
+
+ }
+
+ getVertex(edgeVert0,pa );
+ getVertex(edgeVert1,pb );
+ }
+
+
+
+
+
+ virtual bool isInside(const btVector3& pt,btScalar tolerance) const
+ {
+ btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+ //btScalar minDist = 2*tolerance;
+
+ bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
+ (pt.x() >= (-halfExtents.x()-tolerance)) &&
+ (pt.y() <= (halfExtents.y()+tolerance)) &&
+ (pt.y() >= (-halfExtents.y()-tolerance)) &&
+ (pt.z() <= (halfExtents.z()+tolerance)) &&
+ (pt.z() >= (-halfExtents.z()-tolerance));
+
+ return result;
+ }
+
+
+ //debugging
+ virtual const char* getName()const
+ {
+ return "Box2d";
+ }
+
+ virtual int getNumPreferredPenetrationDirections() const
+ {
+ return 6;
+ }
+
+ virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+ {
+ switch (index)
+ {
+ case 0:
+ penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
+ break;
+ case 1:
+ penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
+ break;
+ case 2:
+ penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
+ break;
+ case 3:
+ penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
+ break;
+ case 4:
+ penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
+ break;
+ case 5:
+ penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
+ break;
+ default:
+ btAssert(0);
+ }
+ }
+
+};
+
+#endif //OBB_BOX_2D_SHAPE_H
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,7 +12,6 @@
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 "btBoxShape.h"
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -41,7 +41,7 @@
const btVector3& getHalfExtentsWithoutMargin() const
{
- return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
+ return m_implicitShapeDimensions;//scaling is included, margin is not
}
@@ -312,6 +312,7 @@
};
+
#endif //OBB_BOX_MINKOWSKI_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -17,12 +17,14 @@
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
+#include "LinearMath/btSerializer.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
+m_triangleInfoMap(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
@@ -30,22 +32,9 @@
//construct bvh from meshInterface
#ifndef DISABLE_BVH
- btVector3 bvhAabbMin,bvhAabbMax;
- if(meshInterface->hasPremadeAabb())
- {
- meshInterface->getPremadeAabb(&bvhAabbMin, &bvhAabbMax);
- }
- else
- {
- meshInterface->calculateAabbBruteForce(bvhAabbMin,bvhAabbMax);
- }
-
if (buildBvh)
{
- void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
- m_bvh = new (mem) btOptimizedBvh();
- m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
- m_ownsBvh = true;
+ buildOptimizedBvh();
}
#endif //DISABLE_BVH
@@ -55,6 +44,7 @@
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
+m_triangleInfoMap(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
@@ -343,20 +333,25 @@
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
btTriangleMeshShape::setLocalScaling(scaling);
- if (m_ownsBvh)
- {
- m_bvh->~btOptimizedBvh();
- btAlignedFree(m_bvh);
- }
- ///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
- void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
- m_bvh = new(mem) btOptimizedBvh();
- //rebuild the bvh...
- m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
- m_ownsBvh = true;
+ buildOptimizedBvh();
}
}
+void btBvhTriangleMeshShape::buildOptimizedBvh()
+{
+ if (m_ownsBvh)
+ {
+ m_bvh->~btOptimizedBvh();
+ btAlignedFree(m_bvh);
+ }
+ ///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
+ void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
+ m_bvh = new(mem) btOptimizedBvh();
+ //rebuild the bvh...
+ m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
+ m_ownsBvh = true;
+}
+
void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
{
btAssert(!m_bvh);
@@ -372,3 +367,100 @@
}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;
+
+ btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
+
+ m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
+
+ trimeshData->m_collisionMargin = float(m_collisionMargin);
+
+
+
+ if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
+ {
+ void* chunk = serializer->findPointer(m_bvh);
+ if (chunk)
+ {
+#ifdef BT_USE_DOUBLE_PRECISION
+ trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
+ trimeshData->m_quantizedFloatBvh = 0;
+#else
+ trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk;
+ trimeshData->m_quantizedDoubleBvh= 0;
+#endif //BT_USE_DOUBLE_PRECISION
+ } else
+ {
+
+#ifdef BT_USE_DOUBLE_PRECISION
+ trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
+ trimeshData->m_quantizedFloatBvh = 0;
+#else
+ trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
+ trimeshData->m_quantizedDoubleBvh= 0;
+#endif //BT_USE_DOUBLE_PRECISION
+
+ int sz = m_bvh->calculateSerializeBufferSizeNew();
+ btChunk* chunk = serializer->allocate(sz,1);
+ const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
+ }
+ } else
+ {
+ trimeshData->m_quantizedFloatBvh = 0;
+ trimeshData->m_quantizedDoubleBvh = 0;
+ }
+
+
+
+ if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
+ {
+ void* chunk = serializer->findPointer(m_triangleInfoMap);
+ if (chunk)
+ {
+ trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
+ } else
+ {
+ trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
+ int sz = m_triangleInfoMap->calculateSerializeBufferSize();
+ btChunk* chunk = serializer->allocate(sz,1);
+ const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
+ }
+ } else
+ {
+ trimeshData->m_triangleInfoMap = 0;
+ }
+
+ return "btTriangleMeshShapeData";
+}
+
+void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
+{
+ if (m_bvh)
+ {
+ int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
+ btChunk* chunk = serializer->allocate(len,1);
+ const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
+ }
+}
+
+void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
+{
+ if (m_triangleInfoMap)
+ {
+ int len = m_triangleInfoMap->calculateSerializeBufferSize();
+ btChunk* chunk = serializer->allocate(len,1);
+ const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
+ }
+}
+
+
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -19,8 +19,8 @@
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
#include "LinearMath/btAlignedAllocator.h"
+#include "btTriangleInfoMap.h"
-
///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage.
///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
@@ -29,6 +29,8 @@
{
btOptimizedBvh* m_bvh;
+ btTriangleInfoMap* m_triangleInfoMap;
+
bool m_useQuantizedAabbCompression;
bool m_ownsBvh;
bool m_pad[11];////need padding due to alignment
@@ -37,7 +39,7 @@
BT_DECLARE_ALIGNED_ALLOCATOR();
- btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;};
+ btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_triangleInfoMap(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;};
btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
@@ -73,14 +75,65 @@
return m_bvh;
}
-
void setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1));
+ void buildOptimizedBvh();
+
bool usesQuantizedAabbCompression() const
{
return m_useQuantizedAabbCompression;
}
+
+ void setTriangleInfoMap(btTriangleInfoMap* triangleInfoMap)
+ {
+ m_triangleInfoMap = triangleInfoMap;
+ }
+
+ const btTriangleInfoMap* getTriangleInfoMap() const
+ {
+ return m_triangleInfoMap;
+ }
+
+ btTriangleInfoMap* getTriangleInfoMap()
+ {
+ return m_triangleInfoMap;
+ }
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+ virtual void serializeSingleBvh(btSerializer* serializer) const;
+
+ virtual void serializeSingleTriangleInfoMap(btSerializer* serializer) const;
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btTriangleMeshShapeData
+{
+ btCollisionShapeData m_collisionShapeData;
+
+ btStridingMeshInterfaceData m_meshInterface;
+
+ btQuantizedBvhFloatData *m_quantizedFloatBvh;
+ btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
+
+ btTriangleInfoMapData *m_triangleInfoMap;
+
+ float m_collisionMargin;
+
+ char m_pad3[4];
+
+};
+
+
+SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btTriangleMeshShapeData);
}
-;
+
+
#endif //BVH_TRIANGLE_MESH_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -32,7 +32,7 @@
btVector3 supVec(0,0,0);
- btScalar maxDot(btScalar(-1e30));
+ btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -88,7 +88,7 @@
for (int j=0;j<numVectors;j++)
{
- btScalar maxDot(btScalar(-1e30));
+ btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];
btVector3 vtx;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -43,6 +43,18 @@
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+ 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 getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
@@ -77,6 +89,24 @@
return m_implicitShapeDimensions[m_upAxis];
}
+ 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 int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
///btCapsuleShapeX represents a capsule around the Z axis
@@ -113,6 +143,31 @@
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCapsuleShapeData
+{
+ btConvexInternalShapeData m_convexInternalShapeData;
+ int m_upAxis;
+ char m_padding[4];
+};
+
+SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btCapsuleShapeData);
+}
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
+
+ btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+ shapeData->m_upAxis = m_upAxis;
+
+ return "btCapsuleShapeData";
+}
+
#endif //BT_CAPSULE_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,13 +12,9 @@
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 "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "LinearMath/btSerializer.h"
-
-btScalar gContactThresholdFactor=btScalar(0.02);
-
-
/*
Make sure this dummy function never changes so that it
can be used by probes that are checking whether the
@@ -45,10 +41,12 @@
center = (aabbMin+aabbMax)*btScalar(0.5);
}
-btScalar btCollisionShape::getContactBreakingThreshold() const
+
+btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
{
- return getAngularMotionDisc() * gContactThresholdFactor;
+ return getAngularMotionDisc() * defaultContactThreshold;
}
+
btScalar btCollisionShape::getAngularMotionDisc() const
{
///@todo cache this value, to improve performance
@@ -96,3 +94,26 @@
temporalAabbMin -= angularMotion3d;
temporalAabbMax += angularMotion3d;
}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
+ char* name = (char*) serializer->findNameForPointer(this);
+ shapeData->m_name = (char*)serializer->getUniquePointer(name);
+ if (shapeData->m_name)
+ {
+ serializer->serializeName(name);
+ }
+ shapeData->m_shapeType = m_shapeType;
+ //shapeData->m_padding//??
+ return "btCollisionShapeData";
+}
+
+void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
+{
+ int len = calculateSerializeBufferSize();
+ btChunk* chunk = serializer->allocate(len,1);
+ const char* structType = serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
+}
\ No newline at end of file
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -20,7 +20,9 @@
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
+class btSerializer;
+
///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
class btCollisionShape
{
@@ -46,24 +48,33 @@
///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual btScalar getAngularMotionDisc() const;
- virtual btScalar getContactBreakingThreshold() const;
+ virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const;
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative
void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
-#ifndef __SPU__
+
SIMD_FORCE_INLINE bool isPolyhedral() const
{
return btBroadphaseProxy::isPolyhedral(getShapeType());
}
+ SIMD_FORCE_INLINE bool isConvex2d() const
+ {
+ return btBroadphaseProxy::isConvex2d(getShapeType());
+ }
+
SIMD_FORCE_INLINE bool isConvex() const
{
return btBroadphaseProxy::isConvex(getShapeType());
}
+ SIMD_FORCE_INLINE bool isNonMoving() const
+ {
+ return btBroadphaseProxy::isNonMoving(getShapeType());
+ }
SIMD_FORCE_INLINE bool isConcave() const
{
return btBroadphaseProxy::isConcave(getShapeType());
@@ -73,13 +84,18 @@
return btBroadphaseProxy::isCompound(getShapeType());
}
+ SIMD_FORCE_INLINE bool isSoftBody() const
+ {
+ return btBroadphaseProxy::isSoftBody(getShapeType());
+ }
+
///isInfinite is used to catch simulation error (aabb check)
SIMD_FORCE_INLINE bool isInfinite() const
{
return btBroadphaseProxy::isInfinite(getShapeType());
}
-
+#ifndef __SPU__
virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
@@ -106,7 +122,29 @@
return m_userPointer;
}
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+ virtual void serializeSingleShape(btSerializer* serializer) const;
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCollisionShapeData
+{
+ char *m_name;
+ int m_shapeType;
+ char m_padding[4];
+};
+
+SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btCollisionShapeData);
+}
+
+
+
#endif //COLLISION_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -16,14 +16,15 @@
#include "btCompoundShape.h"
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
+#include "LinearMath/btSerializer.h"
btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
-: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
-m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
+: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
+m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
+m_dynamicAabbTree(0),
+m_updateRevision(1),
m_collisionMargin(btScalar(0.)),
-m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_dynamicAabbTree(0),
-m_updateRevision(1)
+m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
@@ -51,6 +52,7 @@
//m_childTransforms.push_back(localTransform);
//m_childShapes.push_back(shape);
btCompoundShapeChild child;
+ child.m_node = 0;
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape->getShapeType();
@@ -93,7 +95,7 @@
btVector3 localAabbMin,localAabbMax;
m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
- int index = m_children.size()-1;
+ //int index = m_children.size()-1;
m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
}
@@ -109,6 +111,8 @@
m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
}
m_children.swap(childShapeIndex,m_children.size()-1);
+ if (m_dynamicAabbTree)
+ m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
m_children.pop_back();
}
@@ -124,14 +128,7 @@
{
if(m_children[i].m_childShape == shape)
{
- m_children.swap(i,m_children.size()-1);
- m_children.pop_back();
- //remove it from the m_dynamicAabbTree too
- //@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm
- //so effectively, removeChildShape is broken at the moment
- //m_dynamicAabbTree->remove(m_aabbProxies[i]);
- //m_aabbProxies.swap(i,m_children.size()-1);
- //m_aabbProxies.pop_back();
+ removeChildShapeByIndex(i);
}
}
@@ -145,8 +142,8 @@
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
- m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
- m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
+ m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
@@ -223,9 +220,13 @@
for (k = 0; k < n; k++)
{
+ btAssert(masses[k]>0);
center += m_children[k].m_transform.getOrigin() * masses[k];
totalMass += masses[k];
}
+
+ btAssert(totalMass>0);
+
center /= totalMass;
principal.setOrigin(center);
@@ -271,3 +272,80 @@
+void btCompoundShape::setLocalScaling(const btVector3& scaling)
+{
+
+ for(int i = 0; i < m_children.size(); i++)
+ {
+ btTransform childTrans = getChildTransform(i);
+ btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
+// childScale = childScale * (childTrans.getBasis() * scaling);
+ childScale = childScale * scaling / m_localScaling;
+ m_children[i].m_childShape->setLocalScaling(childScale);
+ childTrans.setOrigin((childTrans.getOrigin())*scaling);
+ updateChildTransform(i, childTrans);
+ recalculateLocalAabb();
+ }
+ m_localScaling = scaling;
+}
+
+
+void btCompoundShape::createAabbTreeFromChildren()
+{
+ if ( !m_dynamicAabbTree )
+ {
+ void* mem = btAlignedAlloc(sizeof(btDbvt),16);
+ m_dynamicAabbTree = new(mem) btDbvt();
+ btAssert(mem==m_dynamicAabbTree);
+
+ for ( int index = 0; index < m_children.size(); index++ )
+ {
+ btCompoundShapeChild &child = m_children[index];
+
+ //extend the local aabbMin/aabbMax
+ btVector3 localAabbMin,localAabbMax;
+ child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
+
+ const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+ child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
+ }
+ }
+}
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+ btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
+ btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
+
+ shapeData->m_collisionMargin = float(m_collisionMargin);
+ shapeData->m_numChildShapes = m_children.size();
+ shapeData->m_childShapePtr = 0;
+ if (shapeData->m_numChildShapes)
+ {
+ btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
+ btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
+ shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
+
+ for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
+ {
+ memPtr->m_childMargin = float(m_children[i].m_childMargin);
+ memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
+ //don't serialize shapes that already have been serialized
+ if (!serializer->findPointer(m_children[i].m_childShape))
+ {
+ btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
+ const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);
+ serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape);
+ }
+
+ memPtr->m_childShapeType = m_children[i].m_childShapeType;
+ m_children[i].m_transform.serializeFloat(memPtr->m_transform);
+ }
+ serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
+ }
+ return "btCompoundShapeData";
+}
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -62,6 +62,11 @@
///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
int m_updateRevision;
+ btScalar m_collisionMargin;
+
+protected:
+ btVector3 m_localScaling;
+
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -116,10 +121,8 @@
Use this yourself if you modify the children or their transforms. */
virtual void recalculateLocalAabb();
- virtual void setLocalScaling(const btVector3& scaling)
- {
- m_localScaling = scaling;
- }
+ virtual void setLocalScaling(const btVector3& scaling);
+
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
@@ -140,14 +143,14 @@
return "Compound";
}
- //this is optional, but should make collision queries faster, by culling non-overlapping nodes
- void createAabbTreeFromChildren();
btDbvt* getDynamicAabbTree()
{
return m_dynamicAabbTree;
}
+ void createAabbTreeFromChildren();
+
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform
///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
@@ -160,13 +163,46 @@
return m_updateRevision;
}
-private:
- btScalar m_collisionMargin;
-protected:
- btVector3 m_localScaling;
+ virtual int calculateSerializeBufferSize() const;
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCompoundShapeChildData
+{
+ btTransformFloatData m_transform;
+ btCollisionShapeData *m_childShape;
+ int m_childShapeType;
+ float m_childMargin;
+};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCompoundShapeData
+{
+ btCollisionShapeData m_collisionShapeData;
+ btCompoundShapeChildData *m_childShapePtr;
+
+ int m_numChildShapes;
+
+ float m_collisionMargin;
+
+};
+
+
+SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btCompoundShapeData);
+}
+
+
+
+
+
+
+
#endif //COMPOUND_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,7 +1,6 @@
-
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConcaveShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConeShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,92 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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 "btConvex2dShape.h"
+
+btConvex2dShape::btConvex2dShape( btConvexShape* convexChildShape):
+btConvexShape (), m_childConvexShape(convexChildShape)
+{
+ m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
+}
+
+btConvex2dShape::~btConvex2dShape()
+{
+}
+
+
+
+btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+ return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
+}
+
+void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+ m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
+}
+
+
+btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const
+{
+ return m_childConvexShape->localGetSupportingVertex(vec);
+}
+
+
+void btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+ ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
+ m_childConvexShape->calculateLocalInertia(mass,inertia);
+}
+
+
+ ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+ m_childConvexShape->getAabb(t,aabbMin,aabbMax);
+}
+
+void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+ m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
+}
+
+void btConvex2dShape::setLocalScaling(const btVector3& scaling)
+{
+ m_childConvexShape->setLocalScaling(scaling);
+}
+
+const btVector3& btConvex2dShape::getLocalScaling() const
+{
+ return m_childConvexShape->getLocalScaling();
+}
+
+void btConvex2dShape::setMargin(btScalar margin)
+{
+ m_childConvexShape->setMargin(margin);
+}
+btScalar btConvex2dShape::getMargin() const
+{
+ return m_childConvexShape->getMargin();
+}
+
+int btConvex2dShape::getNumPreferredPenetrationDirections() const
+{
+ return m_childConvexShape->getNumPreferredPenetrationDirections();
+}
+
+void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+{
+ m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
+}
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,80 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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.
+*/
+
+#ifndef BT_CONVEX_2D_SHAPE_H
+#define BT_CONVEX_2D_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+///The btConvex2dShape allows to use arbitrary convex shapes are 2d convex shapes, with the Z component assumed to be 0.
+///For 2d boxes, the btBox2dShape is recommended.
+class btConvex2dShape : public btConvexShape
+{
+ btConvexShape* m_childConvexShape;
+
+ public:
+
+ btConvex2dShape( btConvexShape* convexChildShape);
+
+ virtual ~btConvex2dShape();
+
+ virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+ virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
+
+ virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+ btConvexShape* getChildShape()
+ {
+ return m_childConvexShape;
+ }
+
+ const btConvexShape* getChildShape() const
+ {
+ return m_childConvexShape;
+ }
+
+ virtual const char* getName()const
+ {
+ return "Convex2dShape";
+ }
+
+
+
+ ///////////////////////////
+
+
+ ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+ void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+ virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+ virtual void setLocalScaling(const btVector3& scaling) ;
+ virtual const btVector3& getLocalScaling() const ;
+
+ virtual void setMargin(btScalar margin);
+ virtual btScalar getMargin() const;
+
+ virtual int getNumPreferredPenetrationDirections() const;
+
+ virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
+
+
+};
+
+#endif //BT_CONVEX_2D_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,24 +12,25 @@
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 "btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
+#include "LinearMath/btSerializer.h"
-
-
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
+btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape ()
{
m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
m_unscaledPoints.resize(numPoints);
- unsigned char* pointsBaseAddress = (unsigned char*)points;
+ unsigned char* pointsAddress = (unsigned char*)points;
for (int i=0;i<numPoints;i++)
{
- btVector3* point = (btVector3*)(pointsBaseAddress + i*stride);
- m_unscaledPoints[i] = point[0];
+ btScalar* point = (btScalar*)pointsAddress;
+ m_unscaledPoints[i] = btVector3(point[0], point[1], point[2]);
+ pointsAddress += stride;
}
recalcLocalAabb();
@@ -51,23 +52,11 @@
}
-btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
- btScalar newDot,maxDot = btScalar(-1e30);
+ btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
- btVector3 vec = vec0;
- btScalar lenSqr = vec.length2();
- if (lenSqr < btScalar(0.0001))
- {
- vec.setValue(1,0,0);
- } else
- {
- btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
- vec *= rlen;
- }
-
-
for (int i=0;i<m_unscaledPoints.size();i++)
{
btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
@@ -89,7 +78,7 @@
{
for (int i=0;i<numVectors;i++)
{
- supportVerticesOut[i][3] = btScalar(-1e30);
+ supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_unscaledPoints.size();i++)
@@ -185,3 +174,38 @@
return false;
}
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ //int szc = sizeof(btConvexHullShapeData);
+ btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
+ btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
+
+ int numElem = m_unscaledPoints.size();
+ shapeData->m_numUnscaledPoints = numElem;
+#ifdef BT_USE_DOUBLE_PRECISION
+ shapeData->m_unscaledPointsFloatPtr = 0;
+ shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0;
+#else
+ shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0;
+ shapeData->m_unscaledPointsDoublePtr = 0;
+#endif
+
+ if (numElem)
+ {
+ int sz = sizeof(btVector3Data);
+ // int sz2 = sizeof(btVector3DoubleData);
+ // int sz3 = sizeof(btVector3FloatData);
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_unscaledPoints[i].serialize(*memPtr);
+ }
+ serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
+ }
+
+ return "btConvexHullShapeData";
+}
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -20,9 +20,10 @@
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btAlignedObjectArray.h"
+
///The btConvexHullShape implements an implicit convex hull of an array of vertices.
///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
-ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape
{
btAlignedObjectArray<btVector3> m_unscaledPoints;
@@ -88,8 +89,32 @@
///in case we receive negative scaling
virtual void setLocalScaling(const btVector3& scaling);
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btConvexHullShapeData
+{
+ btConvexInternalShapeData m_convexInternalShapeData;
+ btVector3FloatData *m_unscaledPointsFloatPtr;
+ btVector3DoubleData *m_unscaledPointsDoublePtr;
+
+ int m_numUnscaledPoints;
+ char m_padding3[4];
+
+};
+
+
+SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btConvexHullShapeData);
+}
+
+
#endif //CONVEX_HULL_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -34,7 +34,8 @@
void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
{
-
+#ifndef __SPU__
+ //use localGetSupportingVertexWithoutMargin?
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
@@ -49,6 +50,7 @@
tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
minAabb[i] = tmp[i]-margin;
}
+#endif
}
@@ -79,3 +81,71 @@
}
+btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
+ : btConvexInternalShape(),
+m_localAabbMin(1,1,1),
+m_localAabbMax(-1,-1,-1),
+m_isLocalAabbValid(false)
+{
+}
+
+
+void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+ getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+}
+
+void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
+{
+ btConvexInternalShape::setLocalScaling(scaling);
+ recalcLocalAabb();
+}
+
+
+void btConvexInternalAabbCachingShape::recalcLocalAabb()
+{
+ m_isLocalAabbValid = true;
+
+ #if 1
+ static const btVector3 _directions[] =
+ {
+ btVector3( 1., 0., 0.),
+ btVector3( 0., 1., 0.),
+ btVector3( 0., 0., 1.),
+ btVector3( -1., 0., 0.),
+ btVector3( 0., -1., 0.),
+ btVector3( 0., 0., -1.)
+ };
+
+ btVector3 _supporting[] =
+ {
+ btVector3( 0., 0., 0.),
+ btVector3( 0., 0., 0.),
+ btVector3( 0., 0., 0.),
+ btVector3( 0., 0., 0.),
+ btVector3( 0., 0., 0.),
+ btVector3( 0., 0., 0.)
+ };
+
+ batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+
+ for ( int i = 0; i < 3; ++i )
+ {
+ m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
+ m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
+ }
+
+ #else
+
+ for (int i=0;i<3;i++)
+ {
+ btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+ vec[i] = btScalar(1.);
+ btVector3 tmp = localGetSupportingVertex(vec);
+ m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+ vec[i] = btScalar(-1.);
+ tmp = localGetSupportingVertex(vec);
+ m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+ }
+ #endif
+}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,9 +1,25 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+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.
+*/
+
#ifndef BT_CONVEX_INTERNAL_SHAPE_H
#define BT_CONVEX_INTERNAL_SHAPE_H
#include "btConvexShape.h"
+#include "LinearMath/btAabbUtil2.h"
+
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
class btConvexInternalShape : public btConvexShape
{
@@ -37,6 +53,15 @@
return m_implicitShapeDimensions;
}
+ ///warning: use setImplicitShapeDimensions with care
+ ///changing a collision shape while the body is in the world is not recommended,
+ ///it is best to remove the body from the world, then make the change, and re-add it
+ ///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
+ void setImplicitShapeDimensions(const btVector3& dimensions)
+ {
+ m_implicitShapeDimensions = dimensions;
+ }
+
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
@@ -85,9 +110,93 @@
btAssert(0);
}
+ virtual int calculateSerializeBufferSize() const;
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btConvexInternalShapeData
+{
+ btCollisionShapeData m_collisionShapeData;
+ btVector3FloatData m_localScaling;
+
+ btVector3FloatData m_implicitShapeDimensions;
+
+ float m_collisionMargin;
+
+ int m_padding;
+
+};
+
+
+
+SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btConvexInternalShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
+ btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
+
+ m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
+ m_localScaling.serializeFloat(shapeData->m_localScaling);
+ shapeData->m_collisionMargin = float(m_collisionMargin);
+
+ return "btConvexInternalShapeData";
+}
+
+
+
+
+///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations
+class btConvexInternalAabbCachingShape : public btConvexInternalShape
+{
+ btVector3 m_localAabbMin;
+ btVector3 m_localAabbMax;
+ bool m_isLocalAabbValid;
+
+protected:
+
+ btConvexInternalAabbCachingShape();
+
+ void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
+ {
+ m_isLocalAabbValid = true;
+ m_localAabbMin = aabbMin;
+ m_localAabbMax = aabbMax;
+ }
+
+ inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const
+ {
+ btAssert(m_isLocalAabbValid);
+ aabbMin = m_localAabbMin;
+ aabbMax = m_localAabbMax;
+ }
+
+ inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+ {
+
+ //lazy evaluation of local aabb
+ btAssert(m_isLocalAabbValid);
+ btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
+ }
+
+public:
+
+ virtual void setLocalScaling(const btVector3& scaling);
+
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+ void recalcLocalAabb();
+
+};
+
#endif //BT_CONVEX_INTERNAL_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@
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 "btConvexPointCloudShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@@ -27,7 +28,7 @@
btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
- btScalar newDot,maxDot = btScalar(-1e30);
+ btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -62,7 +63,7 @@
{
for (int i=0;i<numVectors;i++)
{
- supportVerticesOut[i][3] = btScalar(-1e30);
+ supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_numPoints;i++)
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -21,7 +21,7 @@
#include "LinearMath/btAlignedObjectArray.h"
///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
-ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape
{
btVector3* m_unscaledPoints;
int m_numPoints;
@@ -29,6 +29,14 @@
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
+ btConvexPointCloudShape()
+ {
+ m_localScaling.setValue(1.f,1.f,1.f);
+ m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
+ m_unscaledPoints = 0;
+ m_numPoints = 0;
+ }
+
btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
{
m_localScaling = localScaling;
@@ -40,10 +48,11 @@
recalcLocalAabb();
}
- void setPoints (btVector3* points, int numPoints, bool computeAabb = true)
+ void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f))
{
m_unscaledPoints = points;
m_numPoints = numPoints;
+ m_localScaling = localScaling;
if (computeAabb)
recalcLocalAabb();
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -21,6 +21,18 @@
#include "btConvexHullShape.h"
#include "btConvexPointCloudShape.h"
+///not supported on IBM SDK, until we fix the alignment of btVector3
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+#include <spu_intrinsics.h>
+static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
+{
+ vec_float4 result;
+ result = spu_mul( vec0, vec1 );
+ result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
+ return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
+}
+#endif //__SPU__
+
btConvexShape::btConvexShape ()
{
}
@@ -32,35 +44,71 @@
-static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
-{
- btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
- btScalar newDot,maxDot = btScalar(-1e30);
+static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
+{
- btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
- btVector3 vec = vec0;
- btScalar lenSqr = vec.length2();
- if (lenSqr < btScalar(0.0001))
- {
- vec.setValue(1,0,0);
- } else {
- btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
- vec *= rlen;
+ btVector3 vec = localDirOrg * localScaling;
+
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+
+ btVector3 localDir = vec;
+
+ vec_float4 v_distMax = {-FLT_MAX,0,0,0};
+ vec_int4 v_idxMax = {-999,0,0,0};
+ int v=0;
+ int numverts = numPoints;
+
+ for(;v<(int)numverts-4;v+=4) {
+ vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
+ vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
+ vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
+ vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
+ const vec_int4 i0 = {v ,0,0,0};
+ const vec_int4 i1 = {v+1,0,0,0};
+ const vec_int4 i2 = {v+2,0,0,0};
+ const vec_int4 i3 = {v+3,0,0,0};
+ vec_uint4 retGt01 = spu_cmpgt(p0,p1);
+ vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
+ vec_int4 imax01 = spu_sel(i1,i0,retGt01);
+ vec_uint4 retGt23 = spu_cmpgt(p2,p3);
+ vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
+ vec_int4 imax23 = spu_sel(i3,i2,retGt23);
+ vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
+ vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
+ vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
+ vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
+ v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
+ v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
}
+ for(;v<(int)numverts;v++) {
+ vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
+ const vec_int4 i = {v,0,0,0};
+ vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
+ v_distMax = spu_sel(p,v_distMax,retGtMax);
+ v_idxMax = spu_sel(i,v_idxMax,retGtMax);
+ }
+ int ptIndex = spu_extract(v_idxMax,0);
+ const btVector3& supVec= points[ptIndex] * localScaling;
+ return supVec;
+#else
+ btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
+ int ptIndex = -1;
for (int i=0;i<numPoints;i++)
{
- btVector3 vtx = points[i] * localScaling;
- newDot = vec.dot(vtx);
+ newDot = vec.dot(points[i]);
if (newDot > maxDot)
{
maxDot = newDot;
- supVec = vtx;
+ ptIndex = i;
}
}
- return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
+ btAssert(ptIndex >= 0);
+ btVector3 supVec = points[ptIndex] * localScaling;
+ return supVec;
+#endif //__SPU__
}
btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
@@ -160,7 +208,7 @@
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0);
- btScalar maxDot(btScalar(-1e30));
+ btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -292,7 +340,7 @@
btAssert (0);
return btScalar(0.0f);
}
-
+#ifndef __SPU__
void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
switch (m_shapeType)
@@ -360,7 +408,7 @@
case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
- btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+ btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
btScalar margin = convexHullShape->getMarginNonVirtual();
convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
}
@@ -377,3 +425,5 @@
// should never reach here
btAssert (0);
}
+
+#endif //__SPU__
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,6 +12,7 @@
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 "btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@@ -20,7 +21,7 @@
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
-: btPolyhedralConvexShape(), m_stridingMesh(meshInterface)
+: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
{
m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
if ( calcAabb )
@@ -43,7 +44,7 @@
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
- m_maxDot(btScalar(-1e30)),
+ m_maxDot(btScalar(-BT_LARGE_FLOAT)),
m_supportVecLocal(supportVecLocal)
{
}
@@ -91,7 +92,7 @@
}
LocalSupportVertexCallback supportCallback(vec);
- btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
@@ -104,7 +105,7 @@
{
for (int i=0;i<numVectors;i++)
{
- supportVerticesOut[i][3] = btScalar(-1e30);
+ supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
@@ -115,7 +116,7 @@
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
- btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
@@ -297,7 +298,7 @@
};
CenterCallback centerCallback;
- btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_stridingMesh->InternalProcessAllTriangles(¢erCallback, -aabbMax, aabbMax);
btVector3 center = centerCallback.getCenter();
principal.setOrigin(center);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,3 +1,17 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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.
+*/
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
#define CONVEX_TRIANGLEMESH_SHAPE_H
@@ -8,7 +22,7 @@
/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
-class btConvexTriangleMeshShape : public btPolyhedralConvexShape
+class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
{
class btStridingMeshInterface* m_stridingMesh;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,14 +12,16 @@
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 "btCylinderShape.h"
btCylinderShape::btCylinderShape (const btVector3& halfExtents)
-:btBoxShape(halfExtents),
+:btConvexInternalShape(),
m_upAxis(1)
{
+ btVector3 margin(getMargin(),getMargin(),getMargin());
+ m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
- recalcLocalAabb();
}
@@ -27,7 +29,7 @@
:btCylinderShape(halfExtents)
{
m_upAxis = 0;
- recalcLocalAabb();
+
}
@@ -35,16 +37,30 @@
:btCylinderShape(halfExtents)
{
m_upAxis = 2;
- recalcLocalAabb();
+
}
void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
- //skip the box 'getAabb'
- btPolyhedralConvexShape::getAabb(t,aabbMin,aabbMax);
+ btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
}
+void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+ //approximation of box shape, todo: implement cylinder shape inertia before people notice ;-)
+ btVector3 halfExtents = getHalfExtentsWithMargin();
+ 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));
+
+}
+
+
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 0;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -21,7 +21,7 @@
#include "LinearMath/btVector3.h"
/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
-class btCylinderShape : public btBoxShape
+class btCylinderShape : public btConvexInternalShape
{
@@ -30,15 +30,42 @@
int m_upAxis;
public:
+
+ 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
+ }
+
btCylinderShape (const btVector3& halfExtents);
- ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+ 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 btVector3 localGetSupportingVertex(const btVector3& vec) const
{
@@ -73,13 +100,28 @@
return getHalfExtentsWithMargin().getX();
}
+ 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;
+
+ }
+
//debugging
virtual const char* getName()const
{
return "CylinderY";
}
+ virtual int calculateSerializeBufferSize() const;
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
@@ -112,10 +154,6 @@
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
- virtual int getUpAxis() const
- {
- return 2;
- }
//debugging
virtual const char* getName()const
{
@@ -129,6 +167,34 @@
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btCylinderShapeData
+{
+ btConvexInternalShapeData m_convexInternalShapeData;
+ int m_upAxis;
+
+ char m_padding[4];
+};
+
+SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btCylinderShapeData);
+}
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
+
+ btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+ shapeData->m_upAxis = m_upAxis;
+
+ return "btCylinderShapeData";
+}
+
+
+
#endif //CYLINDER_MINKOWSKI_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btEmptyShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMaterial.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMaterial.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMaterial.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -31,4 +31,5 @@
btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
};
-#endif // MATERIAL_H
\ No newline at end of file
+#endif // MATERIAL_H
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,6 +13,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
#include "btMinkowskiSumShape.h"
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,37 +13,39 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
+
#include "btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
+#include "LinearMath/btSerializer.h"
-btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
-:btConvexInternalShape (), m_inertiaHalfExtents(inertiaHalfExtents)
+btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres)
+:btConvexInternalAabbCachingShape ()
{
m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE;
- btScalar startMargin = btScalar(1e30);
+ //btScalar startMargin = btScalar(BT_LARGE_FLOAT);
- m_numSpheres = numSpheres;
- for (int i=0;i<m_numSpheres;i++)
+ m_localPositionArray.resize(numSpheres);
+ m_radiArray.resize(numSpheres);
+ for (int i=0;i<numSpheres;i++)
{
- m_localPositions[i] = positions[i];
- m_radi[i] = radi[i];
- if (radi[i] < startMargin)
- startMargin = radi[i];
+ m_localPositionArray[i] = positions[i];
+ m_radiArray[i] = radi[i];
+
}
- setMargin(startMargin);
+ recalcLocalAabb();
+
}
-
-
btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
int i;
btVector3 supVec(0,0,0);
- btScalar maxDot(btScalar(-1e30));
+ btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
@@ -60,10 +62,11 @@
btVector3 vtx;
btScalar newDot;
- const btVector3* pos = &m_localPositions[0];
- const btScalar* rad = &m_radi[0];
+ const btVector3* pos = &m_localPositionArray[0];
+ const btScalar* rad = &m_radiArray[0];
+ int numSpheres = m_localPositionArray.size();
- for (i=0;i<m_numSpheres;i++)
+ for (i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
@@ -85,17 +88,17 @@
for (int j=0;j<numVectors;j++)
{
- btScalar maxDot(btScalar(-1e30));
+ btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];
btVector3 vtx;
btScalar newDot;
- const btVector3* pos = &m_localPositions[0];
- const btScalar* rad = &m_radi[0];
-
- for (int i=0;i<m_numSpheres;i++)
+ const btVector3* pos = &m_localPositionArray[0];
+ const btScalar* rad = &m_radiArray[0];
+ int numSpheres = m_localPositionArray.size();
+ for (int i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
@@ -121,29 +124,44 @@
{
//as an approximation, take the inertia of the box that bounds the spheres
- btTransform ident;
- ident.setIdentity();
-// btVector3 aabbMin,aabbMax;
+ btVector3 localAabbMin,localAabbMax;
+ getCachedLocalAabb(localAabbMin,localAabbMax);
+ btVector3 halfExtents = (localAabbMax-localAabbMin)*btScalar(0.5);
-// getAabb(ident,aabbMin,aabbMax);
+ btScalar lx=btScalar(2.)*(halfExtents.x());
+ btScalar ly=btScalar(2.)*(halfExtents.y());
+ btScalar lz=btScalar(2.)*(halfExtents.z());
- btVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* btScalar(0.5);
+ 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));
- btScalar margin = CONVEX_DISTANCE_MARGIN;
+}
- btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
- btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
- btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
- const btScalar x2 = lx*lx;
- const btScalar y2 = ly*ly;
- const btScalar z2 = lz*lz;
- const btScalar scaledmass = mass * btScalar(.08333333);
- inertia[0] = scaledmass * (y2+z2);
- inertia[1] = scaledmass * (x2+z2);
- inertia[2] = scaledmass * (x2+y2);
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*) dataBuffer;
+ btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
+ int numElem = m_localPositionArray.size();
+ shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]): 0;
+
+ shapeData->m_localPositionArraySize = numElem;
+ if (numElem)
+ {
+ btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius),numElem);
+ btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ m_localPositionArray[i].serializeFloat(memPtr->m_pos);
+ memPtr->m_radius = float(m_radiArray[i]);
+ }
+ serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]);
+ }
+
+ return "btMultiSphereShapeData";
}
-
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -18,26 +18,21 @@
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btAabbUtil2.h"
-#define MAX_NUM_SPHERES 5
+
///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
-///It is possible to animate the spheres for deformation.
-class btMultiSphereShape : public btConvexInternalShape
-
+///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
+class btMultiSphereShape : public btConvexInternalAabbCachingShape
{
- btVector3 m_localPositions[MAX_NUM_SPHERES];
- btScalar m_radi[MAX_NUM_SPHERES];
- btVector3 m_inertiaHalfExtents;
-
- int m_numSpheres;
+ btAlignedObjectArray<btVector3> m_localPositionArray;
+ btAlignedObjectArray<btScalar> m_radiArray;
-
-
-
public:
- btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres);
+ btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
@@ -49,17 +44,17 @@
int getSphereCount() const
{
- return m_numSpheres;
+ return m_localPositionArray.size();
}
const btVector3& getSpherePosition(int index) const
{
- return m_localPositions[index];
+ return m_localPositionArray[index];
}
btScalar getSphereRadius(int index) const
{
- return m_radi[index];
+ return m_radiArray[index];
}
@@ -68,7 +63,37 @@
return "MultiSphere";
}
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
+struct btPositionAndRadius
+{
+ btVector3FloatData m_pos;
+ float m_radius;
+};
+
+struct btMultiSphereShapeData
+{
+ btConvexInternalShapeData m_convexInternalShapeData;
+
+ btPositionAndRadius *m_localPositionArrayPtr;
+ int m_localPositionArraySize;
+ char m_padding[4];
+};
+
+
+
+SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btMultiSphereShapeData);
+}
+
+
+
#endif //MULTI_SPHERE_MINKOWSKI_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -37,7 +37,6 @@
{
m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
- btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
@@ -71,7 +70,6 @@
{
m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
- btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,6 +13,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
#include "btOptimizedBvh.h"
#include "btStridingMeshInterface.h"
#include "LinearMath/btAabbUtil2.h"
@@ -55,8 +56,8 @@
{
btOptimizedBvhNode node;
btVector3 aabbMin,aabbMax;
- aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
- aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -103,8 +104,8 @@
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
- aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
- aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangle[0]);
aabbMax.setMax(triangle[0]);
aabbMin.setMin(triangle[1]);
@@ -167,8 +168,8 @@
{
NodeTriangleCallback callback(m_leafNodes);
- btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
- btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
@@ -336,8 +337,8 @@
- aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
- aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,6 +13,8 @@
3. This notice may not be removed or altered from any source distribution.
*/
+///Contains contributions from Disney Studio's
+
#ifndef OPTIMIZED_BVH_H
#define OPTIMIZED_BVH_H
@@ -45,7 +47,7 @@
void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
/// Data buffer MUST be 16 byte aligned
- virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian)
+ virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
{
return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -15,11 +15,7 @@
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
-m_localAabbMin(1,1,1),
-m_localAabbMax(-1,-1,-1),
-m_isLocalAabbValid(false),
-m_optionalHull(0)
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
{
}
@@ -27,11 +23,13 @@
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
+
+
+ btVector3 supVec(0,0,0);
+#ifndef __SPU__
int i;
- btVector3 supVec(0,0,0);
+ btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
- btScalar maxDot(btScalar(-1e30));
-
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
@@ -57,12 +55,16 @@
}
}
+
+#endif //__SPU__
return supVec;
-
}
+
+
void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
+#ifndef __SPU__
int i;
btVector3 vtx;
@@ -70,7 +72,7 @@
for (i=0;i<numVectors;i++)
{
- supportVerticesOut[i][3] = btScalar(-1e30);
+ supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
for (int j=0;j<numVectors;j++)
@@ -90,12 +92,14 @@
}
}
}
+#endif //__SPU__
}
void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
+#ifndef __SPU__
//not yet, return box inertia
btScalar margin = getMargin();
@@ -115,25 +119,31 @@
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
-
+#endif //__SPU__
}
-void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
{
- getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+ btConvexInternalShape::setLocalScaling(scaling);
+ recalcLocalAabb();
}
+btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
+:btPolyhedralConvexShape(),
+m_localAabbMin(1,1,1),
+m_localAabbMax(-1,-1,-1),
+m_isLocalAabbValid(false)
+{
+}
-
-void btPolyhedralConvexShape::setLocalScaling(const btVector3& scaling)
+void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
- btConvexInternalShape::setLocalScaling(scaling);
- recalcLocalAabb();
+ getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
}
-void btPolyhedralConvexShape::recalcLocalAabb()
+void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
{
m_isLocalAabbValid = true;
@@ -181,5 +191,3 @@
#endif
}
-
-
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -17,7 +17,6 @@
#define BU_SHAPE
#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btAabbUtil2.h"
#include "btConvexInternalShape.h"
@@ -26,10 +25,7 @@
{
protected:
- btVector3 m_localAabbMin;
- btVector3 m_localAabbMax;
- bool m_isLocalAabbValid;
-
+
public:
btPolyhedralConvexShape();
@@ -38,11 +34,33 @@
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+
+ virtual int getNumVertices() const = 0 ;
+ virtual int getNumEdges() const = 0;
+ virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
+ virtual void getVertex(int i,btVector3& vtx) const = 0;
+ virtual int getNumPlanes() const = 0;
+ virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
+// virtual int getIndex(int i) const = 0 ;
+ virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
+
+};
+
+///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
+class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
+{
+
+ btVector3 m_localAabbMin;
+ btVector3 m_localAabbMax;
+ bool m_isLocalAabbValid;
+
+protected:
+
void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
{
m_isLocalAabbValid = true;
@@ -57,6 +75,10 @@
aabbMax = m_localAabbMax;
}
+public:
+
+ btPolyhedralConvexAabbCachingShape();
+
inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
{
@@ -65,26 +87,12 @@
btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
}
-
+ virtual void setLocalScaling(const btVector3& scaling);
+
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
- virtual void setLocalScaling(const btVector3& scaling);
-
void recalcLocalAabb();
- virtual int getNumVertices() const = 0 ;
- virtual int getNumEdges() const = 0;
- virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
- virtual void getVertex(int i,btVector3& vtx) const = 0;
- virtual int getNumPlanes() const = 0;
- virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
-// virtual int getIndex(int i) const = 0 ;
-
- virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
-
- /// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
- class Hull* m_optionalHull;
-
};
#endif //BU_SHAPE
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,6 +13,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
#include "btScaledBvhTriangleMeshShape.h"
btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,13 +1,11 @@
/*
-btbtShapeHull implemented by John McCutchan.
-
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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,
+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.
@@ -15,57 +13,14 @@
3. This notice may not be removed or altered from any source distribution.
*/
+//btShapeHull was implemented by John McCutchan.
+
+
#include "btShapeHull.h"
#include "LinearMath/btConvexHull.h"
#define NUM_UNITSPHERE_POINTS 42
-static btVector3 btUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
-{
- btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
- btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
- btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
- btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
- btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
- btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
- btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
- btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
- btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
- btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
- btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
- btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
- btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
- btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
- btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
- btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
- btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
- btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
- btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
- btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
- btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
- btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
- btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
- btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
- btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
- btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
- btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
- btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
- btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
- btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
- btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
- btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
- btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
- btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
- btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
- btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
- btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
- btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
- btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
- btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
- btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
- btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
-};
-
btShapeHull::btShapeHull (const btConvexShape* shape)
{
m_shape = shape;
@@ -92,7 +47,7 @@
{
btVector3 norm;
m_shape->getPreferredPenetrationDirection(i,norm);
- btUnitSpherePoints[numSampleDirections] = norm;
+ getUnitSpherePoints()[numSampleDirections] = norm;
numSampleDirections++;
}
}
@@ -102,7 +57,7 @@
int i;
for (i = 0; i < numSampleDirections; i++)
{
- supportPoints[i] = m_shape->localGetSupportingVertex(btUnitSpherePoints[i]);
+ supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
}
HullDesc hd;
@@ -162,3 +117,54 @@
return static_cast<int>(m_numIndices);
}
+
+btVector3* btShapeHull::getUnitSpherePoints()
+{
+ static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
+ {
+ btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
+ btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
+ btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
+ btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
+ btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
+ btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
+ btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
+ btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
+ btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
+ btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
+ btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
+ btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
+ btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
+ btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
+ btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
+ btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
+ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
+ };
+ return sUnitSpherePoints;
+}
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btShapeHull.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,13 +1,11 @@
/*
-btShapeHull implemented by John McCutchan.
-
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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,
+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.
@@ -15,6 +13,8 @@
3. This notice may not be removed or altered from any source distribution.
*/
+///btShapeHull implemented by John McCutchan.
+
#ifndef _SHAPE_HULL_H
#define _SHAPE_HULL_H
@@ -27,6 +27,15 @@
///It approximates the convex hull using the supporting vertex of 42 directions.
class btShapeHull
{
+protected:
+
+ btAlignedObjectArray<btVector3> m_vertices;
+ btAlignedObjectArray<unsigned int> m_indices;
+ unsigned int m_numIndices;
+ const btConvexShape* m_shape;
+
+ static btVector3* getUnitSpherePoints();
+
public:
btShapeHull (const btConvexShape* shape);
~btShapeHull ();
@@ -45,12 +54,6 @@
{
return &m_indices[0];
}
-
-protected:
- btAlignedObjectArray<btVector3> m_vertices;
- btAlignedObjectArray<unsigned int> m_indices;
- unsigned int m_numIndices;
- const btConvexShape* m_shape;
};
#endif //_SHAPE_HULL_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btSphereShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -12,7 +12,6 @@
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.
*/
-
#ifndef SPHERE_MINKOWSKI_H
#define SPHERE_MINKOWSKI_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -38,7 +38,7 @@
{
(void)t;
/*
- btVector3 infvec (btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 center = m_planeNormal*m_planeConstant;
aabbMin = center + infvec*m_planeNormal;
@@ -47,8 +47,8 @@
aabbMax.setMax(center - infvec*m_planeNormal);
*/
- aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
- aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+ aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -20,7 +20,7 @@
///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
-class btStaticPlaneShape : public btConcaveShape
+ATTRIBUTE_ALIGNED16(class) btStaticPlaneShape : public btConcaveShape
{
protected:
btVector3 m_localAabbMin;
@@ -58,7 +58,46 @@
//debugging
virtual const char* getName()const {return "STATICPLANE";}
+ virtual int calculateSerializeBufferSize() const;
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btStaticPlaneShapeData
+{
+ btCollisionShapeData m_collisionShapeData;
+
+ btVector3FloatData m_localScaling;
+ btVector3FloatData m_planeNormal;
+ float m_planeConstant;
+ char m_pad[4];
+};
+
+
+SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const
+{
+ return sizeof(btStaticPlaneShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer;
+ btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer);
+
+ m_localScaling.serializeFloat(planeData->m_localScaling);
+ m_planeNormal.serializeFloat(planeData->m_planeNormal);
+ planeData->m_planeConstant = float(m_planeConstant);
+
+ return "btStaticPlaneShapeData";
+}
+
+
#endif //STATIC_PLANE_SHAPE_H
+
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -14,6 +14,7 @@
*/
#include "btStridingMeshInterface.h"
+#include "LinearMath/btSerializer.h"
btStridingMeshInterface::~btStridingMeshInterface()
{
@@ -35,7 +36,6 @@
int stride,numverts,numtriangles;
int gfxindex;
btVector3 triangle[3];
- btScalar* graphicsbase;
btVector3 meshScaling = getScaling();
@@ -45,40 +45,98 @@
getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
numtotalphysicsverts+=numtriangles*3; //upper bound
- switch (gfxindextype)
+ ///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
+ ///so disable this feature by default
+ ///see patch http://code.google.com/p/bullet/issues/detail?id=213
+
+ switch (type)
{
- case PHY_INTEGER:
+ case PHY_FLOAT:
+ {
+
+ float* graphicsbase;
+
+ switch (gfxindextype)
+ {
+ case PHY_INTEGER:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ case PHY_SHORT:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ default:
+ btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+ }
+ break;
+ }
+
+ case PHY_DOUBLE:
{
- for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ double* graphicsbase;
+
+ switch (gfxindextype)
{
- unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
- graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
- triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
- graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
- triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
- graphicsbase = (btScalar*)(vertexbase+tri_indices[2]*stride);
- triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
- callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ case PHY_INTEGER:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ case PHY_SHORT:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ default:
+ btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
- case PHY_SHORT:
- {
- for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
- {
- unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
- graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
- triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
- graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
- triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
- graphicsbase = (btScalar*)(vertexbase+tri_indices[2]*stride);
- triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
- callback->internalProcessTriangleIndex(triangle,part,gfxindex);
- }
- break;
- }
default:
- btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+ btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
unLockReadOnlyVertexBase(part);
@@ -95,8 +153,8 @@
AabbCalculationCallback()
{
- m_aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
- m_aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
+ m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
@@ -113,12 +171,161 @@
}
};
- //first calculate the total aabb for all triangles
+ //first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
- aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
- aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+ aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
aabbMin = aabbCallback.m_aabbMin;
aabbMax = aabbCallback.m_aabbMax;
}
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer;
+
+ trimeshData->m_numMeshParts = getNumSubParts();
+
+ //void* uniquePtr = 0;
+
+ trimeshData->m_meshPartsPtr = 0;
+
+ if (trimeshData->m_numMeshParts)
+ {
+ btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts);
+ btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr;
+ trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr);
+
+
+ // int numtotalphysicsverts = 0;
+ int part,graphicssubparts = getNumSubParts();
+ const unsigned char * vertexbase;
+ const unsigned char * indexbase;
+ int indexstride;
+ PHY_ScalarType type;
+ PHY_ScalarType gfxindextype;
+ int stride,numverts,numtriangles;
+ int gfxindex;
+ // btVector3 triangle[3];
+
+ btVector3 meshScaling = getScaling();
+
+ ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
+ for (part=0;part<graphicssubparts ;part++,memPtr++)
+ {
+ getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
+ memPtr->m_numTriangles = numtriangles;//indices = 3*numtriangles
+ memPtr->m_numVertices = numverts;
+ memPtr->m_indices16 = 0;
+ memPtr->m_indices32 = 0;
+ memPtr->m_3indices16 = 0;
+ memPtr->m_vertices3f = 0;
+ memPtr->m_vertices3d = 0;
+
+ switch (gfxindextype)
+ {
+ case PHY_INTEGER:
+ {
+ int numindices = numtriangles*3;
+
+ if (numindices)
+ {
+ btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices);
+ btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr;
+ memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices);
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+ tmpIndices[gfxindex*3].m_value = tri_indices[0];
+ tmpIndices[gfxindex*3+1].m_value = tri_indices[1];
+ tmpIndices[gfxindex*3+2].m_value = tri_indices[2];
+ }
+ serializer->finalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+ }
+ break;
+ }
+ case PHY_SHORT:
+ {
+ if (numtriangles)
+ {
+ btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles);
+ btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr;
+ memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices);
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+ tmpIndices[gfxindex].m_values[0] = tri_indices[0];
+ tmpIndices[gfxindex].m_values[1] = tri_indices[1];
+ tmpIndices[gfxindex].m_values[2] = tri_indices[2];
+ }
+ serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+ }
+ break;
+ }
+ default:
+ {
+ btAssert(0);
+ //unknown index type
+ }
+ }
+
+ switch (type)
+ {
+ case PHY_FLOAT:
+ {
+ float* graphicsbase;
+
+ if (numverts)
+ {
+ btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts);
+ btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr;
+ memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices);
+ for (int i=0;i<numverts;i++)
+ {
+ graphicsbase = (float*)(vertexbase+i*stride);
+ tmpVertices[i].m_floats[0] = graphicsbase[0];
+ tmpVertices[i].m_floats[1] = graphicsbase[1];
+ tmpVertices[i].m_floats[2] = graphicsbase[2];
+ }
+ serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+ }
+ break;
+ }
+
+ case PHY_DOUBLE:
+ {
+ if (numverts)
+ {
+ btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts);
+ btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr;
+ memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices);
+ for (int i=0;i<numverts;i++)
+ {
+ double* graphicsbase = (double*)(vertexbase+i*stride);//for now convert to float, might leave it at double
+ tmpVertices[i].m_floats[0] = graphicsbase[0];
+ tmpVertices[i].m_floats[1] = graphicsbase[1];
+ tmpVertices[i].m_floats[2] = graphicsbase[2];
+ }
+ serializer->finalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
+ }
+ break;
+ }
+
+ default:
+ btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+ }
+
+ unLockReadOnlyVertexBase(part);
+ }
+
+ serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr);
+ }
+
+
+ m_scaling.serializeFloat(trimeshData->m_scaling);
+ return "btStridingMeshInterfaceData";
+}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -22,6 +22,8 @@
+
+
/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
@@ -89,8 +91,64 @@
m_scaling = scaling;
}
-
+ virtual int calculateSerializeBufferSize() const;
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
+struct btIntIndexData
+{
+ int m_value;
+};
+
+struct btShortIntIndexData
+{
+ short m_value;
+ char m_pad[2];
+};
+
+struct btShortIntIndexTripletData
+{
+ short m_values[3];
+ char m_pad[2];
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btMeshPartData
+{
+ btVector3FloatData *m_vertices3f;
+ btVector3DoubleData *m_vertices3d;
+
+ btIntIndexData *m_indices32;
+ btShortIntIndexTripletData *m_3indices16;
+
+ btShortIntIndexData *m_indices16;//backwards compatibility
+
+ int m_numTriangles;//length of m_indices = m_numTriangles
+ int m_numVertices;
+};
+
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btStridingMeshInterfaceData
+{
+ btMeshPartData *m_meshPartsPtr;
+ btVector3FloatData m_scaling;
+ int m_numMeshParts;
+ char m_padding[4];
+};
+
+
+
+
+SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() const
+{
+ return sizeof(btStridingMeshInterfaceData);
+}
+
+
+
#endif //STRIDING_MESHINTERFACE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,7 +1,6 @@
-
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,23 +12,24 @@
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 "btTetrahedronShape.h"
#include "LinearMath/btMatrix3x3.h"
-btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
}
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
addVertex(pt0);
}
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -37,7 +37,7 @@
addVertex(pt1);
}
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -46,7 +46,7 @@
addVertex(pt2);
}
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -57,13 +57,31 @@
}
+void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+#if 1
+ btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
+#else
+ aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+ aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+ //just transform the vertices in worldspace, and take their AABB
+ for (int i=0;i<m_numVertices;i++)
+ {
+ btVector3 worldVertex = t(m_vertices[i]);
+ aabbMin.setMin(worldVertex);
+ aabbMax.setMax(worldVertex);
+ }
+#endif
+}
+
+
+
void btBU_Simplex1to4::addVertex(const btVector3& pt)
{
m_vertices[m_numVertices++] = pt;
-
recalcLocalAabb();
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -22,7 +22,7 @@
///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
-class btBU_Simplex1to4 : public btPolyhedralConvexShape
+class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
{
protected:
@@ -43,8 +43,8 @@
m_numVertices = 0;
}
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
void addVertex(const btVector3& pt);
//PolyhedralConvexShape interface
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,11 +1,11 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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,
+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.
@@ -44,11 +44,9 @@
numverts = mesh.m_numVertices;
(*vertexbase) = (unsigned char *) mesh.m_vertexBase;
- #ifdef BT_USE_DOUBLE_PRECISION
- type = PHY_DOUBLE;
- #else
- type = PHY_FLOAT;
- #endif
+
+ type = mesh.m_vertexType;
+
vertexStride = mesh.m_vertexStride;
numfaces = mesh.m_numTriangles;
@@ -64,11 +62,9 @@
numverts = mesh.m_numVertices;
(*vertexbase) = (const unsigned char *)mesh.m_vertexBase;
- #ifdef BT_USE_DOUBLE_PRECISION
- type = PHY_DOUBLE;
- #else
- type = PHY_FLOAT;
- #endif
+
+ type = mesh.m_vertexType;
+
vertexStride = mesh.m_vertexStride;
numfaces = mesh.m_numTriangles;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -27,16 +27,32 @@
{
BT_DECLARE_ALIGNED_ALLOCATOR();
- int m_numTriangles;
- const unsigned char * m_triangleIndexBase;
- int m_triangleIndexStride;
- int m_numVertices;
- const unsigned char * m_vertexBase;
- int m_vertexStride;
- // The index type is set when adding an indexed mesh to the
- // btTriangleIndexVertexArray, do not set it manually
- PHY_ScalarType m_indexType;
- int pad;
+ int m_numTriangles;
+ const unsigned char * m_triangleIndexBase;
+ int m_triangleIndexStride;
+ int m_numVertices;
+ const unsigned char * m_vertexBase;
+ int m_vertexStride;
+
+ // The index type is set when adding an indexed mesh to the
+ // btTriangleIndexVertexArray, do not set it manually
+ PHY_ScalarType m_indexType;
+
+ // The vertex type has a default type similar to Bullet's precision mode (float or double)
+ // but can be set manually if you for example run Bullet with double precision but have
+ // mesh data in single precision..
+ PHY_ScalarType m_vertexType;
+
+
+ btIndexedMesh()
+ :m_indexType(PHY_INTEGER),
+#ifdef BT_USE_DOUBLE_PRECISION
+ m_vertexType(PHY_DOUBLE)
+#else // BT_USE_DOUBLE_PRECISION
+ m_vertexType(PHY_FLOAT)
+#endif // BT_USE_DOUBLE_PRECISION
+ {
+ }
}
;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,12 +1,11 @@
-
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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,
+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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Copied: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,238 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2010 Erwin Coumans http://bulletphysics.org
+
+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.
+*/
+
+#ifndef _BT_TRIANGLE_INFO_MAP_H
+#define _BT_TRIANGLE_INFO_MAP_H
+
+
+#include "LinearMath/btHashMap.h"
+#include "LinearMath/btSerializer.h"
+
+
+///for btTriangleInfo m_flags
+#define TRI_INFO_V0V1_CONVEX 1
+#define TRI_INFO_V1V2_CONVEX 2
+#define TRI_INFO_V2V0_CONVEX 4
+
+#define TRI_INFO_V0V1_SWAP_NORMALB 8
+#define TRI_INFO_V1V2_SWAP_NORMALB 16
+#define TRI_INFO_V2V0_SWAP_NORMALB 32
+
+
+///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
+///it can be generated using
+struct btTriangleInfo
+{
+ btTriangleInfo()
+ {
+ m_edgeV0V1Angle = SIMD_2_PI;
+ m_edgeV1V2Angle = SIMD_2_PI;
+ m_edgeV2V0Angle = SIMD_2_PI;
+ m_flags=0;
+ }
+
+ int m_flags;
+
+ btScalar m_edgeV0V1Angle;
+ btScalar m_edgeV1V2Angle;
+ btScalar m_edgeV2V0Angle;
+
+};
+
+typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
+
+
+///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
+struct btTriangleInfoMap : public btInternalTriangleInfoMap
+{
+ btScalar m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product
+ btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
+ btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
+ btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
+ btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
+
+
+ btTriangleInfoMap()
+ {
+ m_convexEpsilon = 0.00f;
+ m_planarEpsilon = 0.0001f;
+ m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
+ m_edgeDistanceThreshold = btScalar(0.1);
+ m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
+ }
+ virtual ~btTriangleInfoMap() {}
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+ void deSerialize(struct btTriangleInfoMapData& data);
+
+};
+
+struct btTriangleInfoData
+{
+ int m_flags;
+ float m_edgeV0V1Angle;
+ float m_edgeV1V2Angle;
+ float m_edgeV2V0Angle;
+};
+
+struct btTriangleInfoMapData
+{
+ int *m_hashTablePtr;
+ int *m_nextPtr;
+ btTriangleInfoData *m_valueArrayPtr;
+ int *m_keyArrayPtr;
+
+ float m_convexEpsilon;
+ float m_planarEpsilon;
+ float m_equalVertexThreshold;
+ float m_edgeDistanceThreshold;
+ float m_zeroAreaThreshold;
+
+ int m_nextSize;
+ int m_hashTableSize;
+ int m_numValues;
+ int m_numKeys;
+ char m_padding[4];
+};
+
+SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
+{
+ return sizeof(btTriangleInfoMapData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
+ tmapData->m_convexEpsilon = m_convexEpsilon;
+ tmapData->m_planarEpsilon = m_planarEpsilon;
+ tmapData->m_equalVertexThreshold = m_equalVertexThreshold;
+ tmapData->m_edgeDistanceThreshold = m_edgeDistanceThreshold;
+ tmapData->m_zeroAreaThreshold = m_zeroAreaThreshold;
+
+ tmapData->m_hashTableSize = m_hashTable.size();
+
+ tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
+ if (tmapData->m_hashTablePtr)
+ {
+ //serialize an int buffer
+ int sz = sizeof(int);
+ int numElem = tmapData->m_hashTableSize;
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ int* memPtr = (int*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ *memPtr = m_hashTable[i];
+ }
+ serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]);
+
+ }
+
+ tmapData->m_nextSize = m_next.size();
+ tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0;
+ if (tmapData->m_nextPtr)
+ {
+ int sz = sizeof(int);
+ int numElem = tmapData->m_nextSize;
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ int* memPtr = (int*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ *memPtr = m_next[i];
+ }
+ serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]);
+ }
+
+ tmapData->m_numValues = m_valueArray.size();
+ tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0;
+ if (tmapData->m_valueArrayPtr)
+ {
+ int sz = sizeof(btTriangleInfoData);
+ int numElem = tmapData->m_numValues;
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ memPtr->m_edgeV0V1Angle = m_valueArray[i].m_edgeV0V1Angle;
+ memPtr->m_edgeV1V2Angle = m_valueArray[i].m_edgeV1V2Angle;
+ memPtr->m_edgeV2V0Angle = m_valueArray[i].m_edgeV2V0Angle;
+ memPtr->m_flags = m_valueArray[i].m_flags;
+ }
+ serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
+ }
+
+ tmapData->m_numKeys = m_keyArray.size();
+ tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
+ if (tmapData->m_keyArrayPtr)
+ {
+ int sz = sizeof(int);
+ int numElem = tmapData->m_numValues;
+ btChunk* chunk = serializer->allocate(sz,numElem);
+ int* memPtr = (int*)chunk->m_oldPtr;
+ for (int i=0;i<numElem;i++,memPtr++)
+ {
+ *memPtr = m_keyArray[i].getUid1();
+ }
+ serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]);
+
+ }
+ return "btTriangleInfoMapData";
+}
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData )
+{
+
+
+ m_convexEpsilon = tmapData.m_convexEpsilon;
+ m_planarEpsilon = tmapData.m_planarEpsilon;
+ m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
+ m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
+ m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
+ m_hashTable.resize(tmapData.m_hashTableSize);
+ int i =0;
+ for (i=0;i<tmapData.m_hashTableSize;i++)
+ {
+ m_hashTable[i] = tmapData.m_hashTablePtr[i];
+ }
+ m_next.resize(tmapData.m_nextSize);
+ for (i=0;i<tmapData.m_nextSize;i++)
+ {
+ m_next[i] = tmapData.m_nextPtr[i];
+ }
+ m_valueArray.resize(tmapData.m_numValues);
+ for (i=0;i<tmapData.m_numValues;i++)
+ {
+ m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
+ m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
+ m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
+ m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
+ }
+
+ m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
+ for (i=0;i<tmapData.m_numKeys;i++)
+ {
+ m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
+ }
+}
+
+
+#endif //_BT_TRIANGLE_INFO_MAP_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,6 +13,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
#include "btTriangleMesh.h"
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,7 +13,6 @@
3. This notice may not be removed or altered from any source distribution.
*/
-
#ifndef TRIANGLE_MESH_H
#define TRIANGLE_MESH_H
@@ -41,9 +40,6 @@
btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true);
- int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
- void addIndex(int index);
-
bool getUse32bitIndices() const
{
return m_use32bitIndices;
@@ -62,6 +58,10 @@
virtual void preallocateVertices(int numverts){(void) numverts;}
virtual void preallocateIndices(int numindices){(void) numindices;}
+ ///findOrAddVertex is an internal method, use addTriangle instead
+ int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices);
+ ///addIndex is an internal method, use addTriangle instead
+ void addIndex(int index);
};
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -91,7 +91,7 @@
btVector3 m_supportVecLocal;
SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
- : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-1e30))
+ : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
{
m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
@@ -199,7 +199,7 @@
SupportVertexCallback supportCallback(vec,ident);
- btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
processAllTriangles(&supportCallback,-aabbMax,aabbMax);
@@ -207,3 +207,5 @@
return supportVertex;
}
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -79,7 +79,11 @@
//debugging
virtual const char* getName()const {return "TRIANGLEMESH";}
+
};
+
+
+
#endif //TRIANGLE_MESH_SHAPE_H
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btTriangleShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -19,7 +19,7 @@
#include "btConvexShape.h"
#include "btBoxShape.h"
-class btTriangleShape : public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
{
@@ -32,6 +32,11 @@
return 3;
}
+ btVector3& getVertexPtr(int index)
+ {
+ return m_vertices1[index];
+ }
+
const btVector3& getVertexPtr(int index) const
{
return m_vertices1[index];
@@ -77,8 +82,11 @@
}
+ btTriangleShape() : btPolyhedralConvexShape ()
+ {
+ m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
+ }
-
btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
{
m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -96,7 +96,7 @@
{
- btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
+ btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
//we don't use margins during CCD
@@ -121,6 +121,10 @@
//not close enough
while (dist > radius)
{
+ if (result.m_debugDrawer)
+ {
+ result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1));
+ }
numIter++;
if (numIter > maxIter)
{
@@ -170,6 +174,11 @@
btTransformUtil::integrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
+ if (result.m_debugDrawer)
+ {
+ result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(),0.2f,btVector3(1,0,0));
+ }
+
result.DebugDraw( lambda );
btPointCollector pointCollector;
@@ -197,6 +206,7 @@
//??
return false;
}
+
}
@@ -224,4 +234,3 @@
*/
}
-
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -41,7 +41,7 @@
virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
CastResult()
- :m_fraction(btScalar(1e30)),
+ :m_fraction(btScalar(BT_LARGE_FLOAT)),
m_debugDrawer(0),
m_allowedPenetration(btScalar(0))
{
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -14,8 +14,8 @@
*/
-#ifndef CONVEX_PENETRATION_DEPTH_H
-#define CONVEX_PENETRATION_DEPTH_H
+#ifndef __CONVEX_PENETRATION_DEPTH_H
+#define __CONVEX_PENETRATION_DEPTH_H
class btStackAlloc;
class btVector3;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -33,15 +33,16 @@
virtual ~Result(){}
- ///setShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
- virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)=0;
+ ///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
+ virtual void setShapeIdentifiersA(int partId0,int index0)=0;
+ virtual void setShapeIdentifiersB(int partId1,int index1)=0;
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
};
struct ClosestPointInput
{
ClosestPointInput()
- :m_maximumDistanceSquared(btScalar(1e30)),
+ :m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
m_stackAlloc(0)
{
}
@@ -68,7 +69,7 @@
btVector3 m_closestPointInB;
btScalar m_distance; //negative means penetration !
- btStorageResult() : m_distance(btScalar(1e30))
+ btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
{
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -68,7 +68,43 @@
const btConvexShape* m_shapes[2];
btMatrix3x3 m_toshape1;
btTransform m_toshape0;
+#ifdef __SPU__
+ bool m_enableMargin;
+#else
btVector3 (btConvexShape::*Ls)(const btVector3&) const;
+#endif//__SPU__
+
+
+ MinkowskiDiff()
+ {
+
+ }
+#ifdef __SPU__
+ void EnableMargin(bool enable)
+ {
+ m_enableMargin = enable;
+ }
+ inline btVector3 Support0(const btVector3& d) const
+ {
+ if (m_enableMargin)
+ {
+ return m_shapes[0]->localGetSupportVertexNonVirtual(d);
+ } else
+ {
+ return m_shapes[0]->localGetSupportVertexWithoutMarginNonVirtual(d);
+ }
+ }
+ inline btVector3 Support1(const btVector3& d) const
+ {
+ if (m_enableMargin)
+ {
+ return m_toshape0*(m_shapes[1]->localGetSupportVertexNonVirtual(m_toshape1*d));
+ } else
+ {
+ return m_toshape0*(m_shapes[1]->localGetSupportVertexWithoutMarginNonVirtual(m_toshape1*d));
+ }
+ }
+#else
void EnableMargin(bool enable)
{
if(enable)
@@ -84,6 +120,8 @@
{
return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
}
+#endif //__SPU__
+
inline btVector3 Support(const btVector3& d) const
{
return(Support0(d)-Support1(-d));
@@ -202,7 +240,7 @@
lastw[clastw=(clastw+1)&3]=w;
}
/* Check for termination */
- const btScalar omega=dot(m_ray,w)/rl;
+ const btScalar omega=btDot(m_ray,w)/rl;
alpha=btMax(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
{/* Return old simplex */
@@ -259,6 +297,9 @@
{
case eStatus::Valid: m_distance=m_ray.length();break;
case eStatus::Inside: m_distance=0;break;
+ default:
+ {
+ }
}
return(m_status);
}
@@ -288,7 +329,7 @@
{
btVector3 axis=btVector3(0,0,0);
axis[i]=1;
- const btVector3 p=cross(d,axis);
+ const btVector3 p=btCross(d,axis);
if(p.length2()>0)
{
appendvertice(*m_simplex, p);
@@ -303,7 +344,7 @@
break;
case 3:
{
- const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
+ const btVector3 n=btCross(m_simplex->c[1]->w-m_simplex->c[0]->w,
m_simplex->c[2]->w-m_simplex->c[0]->w);
if(n.length2()>0)
{
@@ -357,7 +398,7 @@
const btScalar l=d.length2();
if(l>GJK_SIMPLEX2_EPS)
{
- const btScalar t(l>0?-dot(a,d)/l:0);
+ const btScalar t(l>0?-btDot(a,d)/l:0);
if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length2()); }
else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length2()); }
else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
@@ -372,16 +413,16 @@
static const U imd3[]={1,2,0};
const btVector3* vt[]={&a,&b,&c};
const btVector3 dl[]={a-b,b-c,c-a};
- const btVector3 n=cross(dl[0],dl[1]);
+ const btVector3 n=btCross(dl[0],dl[1]);
const btScalar l=n.length2();
if(l>GJK_SIMPLEX3_EPS)
{
btScalar mindist=-1;
- btScalar subw[2];
- U subm;
+ btScalar subw[2]={0.f,0.f};
+ U subm(0);
for(U i=0;i<3;++i)
{
- if(dot(*vt[i],cross(dl[i],n))>0)
+ if(btDot(*vt[i],btCross(dl[i],n))>0)
{
const U j=imd3[i];
const btScalar subd(projectorigin(*vt[i],*vt[j],subw,subm));
@@ -397,13 +438,13 @@
}
if(mindist<0)
{
- const btScalar d=dot(a,n);
+ const btScalar d=btDot(a,n);
const btScalar s=btSqrt(l);
const btVector3 p=n*(d/l);
mindist = p.length2();
m = 7;
- w[0] = (cross(dl[1],b-p)).length()/s;
- w[1] = (cross(dl[2],c-p)).length()/s;
+ w[0] = (btCross(dl[1],b-p)).length()/s;
+ w[1] = (btCross(dl[2],c-p)).length()/s;
w[2] = 1-(w[0]+w[1]);
}
return(mindist);
@@ -420,16 +461,16 @@
const btVector3* vt[]={&a,&b,&c,&d};
const btVector3 dl[]={a-d,b-d,c-d};
const btScalar vl=det(dl[0],dl[1],dl[2]);
- const bool ng=(vl*dot(a,cross(b-c,a-b)))<=0;
+ const bool ng=(vl*btDot(a,btCross(b-c,a-b)))<=0;
if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
{
btScalar mindist=-1;
- btScalar subw[3];
- U subm;
+ btScalar subw[3]={0.f,0.f,0.f};
+ U subm(0);
for(U i=0;i<3;++i)
{
const U j=imd3[i];
- const btScalar s=vl*dot(d,cross(dl[i],dl[j]));
+ const btScalar s=vl*btDot(d,btCross(dl[i],dl[j]));
if(s>0)
{
const btScalar subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
@@ -601,7 +642,7 @@
bool valid=true;
best->pass = (U1)(++pass);
gjk.getsupport(best->n,*w);
- const btScalar wdist=dot(best->n,w->w)-best->d;
+ const btScalar wdist=btDot(best->n,w->w)-best->d;
if(wdist>EPA_ACCURACY)
{
for(U j=0;(j<3)&&valid;++j)
@@ -628,11 +669,11 @@
m_result.c[0] = outer.c[0];
m_result.c[1] = outer.c[1];
m_result.c[2] = outer.c[2];
- m_result.p[0] = cross( outer.c[1]->w-projection,
+ m_result.p[0] = btCross( outer.c[1]->w-projection,
outer.c[2]->w-projection).length();
- m_result.p[1] = cross( outer.c[2]->w-projection,
+ m_result.p[1] = btCross( outer.c[2]->w-projection,
outer.c[0]->w-projection).length();
- m_result.p[2] = cross( outer.c[0]->w-projection,
+ m_result.p[2] = btCross( outer.c[0]->w-projection,
outer.c[1]->w-projection).length();
const btScalar sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
m_result.p[0] /= sum;
@@ -666,18 +707,18 @@
face->c[0] = a;
face->c[1] = b;
face->c[2] = c;
- face->n = cross(b->w-a->w,c->w-a->w);
+ face->n = btCross(b->w-a->w,c->w-a->w);
const btScalar l=face->n.length();
const bool v=l>EPA_ACCURACY;
face->p = btMin(btMin(
- dot(a->w,cross(face->n,a->w-b->w)),
- dot(b->w,cross(face->n,b->w-c->w))),
- dot(c->w,cross(face->n,c->w-a->w))) /
+ btDot(a->w,btCross(face->n,a->w-b->w)),
+ btDot(b->w,btCross(face->n,b->w-c->w))),
+ btDot(c->w,btCross(face->n,c->w-a->w))) /
(v?l:1);
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
if(v)
{
- face->d = dot(a->w,face->n)/l;
+ face->d = btDot(a->w,face->n)/l;
face->n /= l;
if(forced||(face->d>=-EPA_PLANE_EPS))
{
@@ -715,7 +756,7 @@
if(f->pass!=pass)
{
const U e1=i1m3[e];
- if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
+ if((btDot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
{
sFace* nf=newface(f->c[e1],f->c[e],w,false);
if(nf)
@@ -854,10 +895,14 @@
case GJK::eStatus::Failed:
results.status=sResults::GJK_Failed;
break;
+ default:
+ {
+ }
}
return(false);
}
+#ifndef __SPU__
//
btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
btScalar margin,
@@ -923,6 +968,7 @@
else
return(true);
}
+#endif //__SPU__
/* Symbols cleanup */
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -55,7 +55,7 @@
const btVector3& guess,
sResults& results,
bool usemargins=true);
-
+#ifndef __SPU__
static btScalar SignedDistance( const btVector3& position,
btScalar margin,
const btConvexShape* shape,
@@ -66,6 +66,8 @@
const btConvexShape* shape1,const btTransform& wtrs1,
const btVector3& guess,
sResults& results);
+#endif //__SPU__
+
};
#endif
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -32,10 +32,12 @@
(void)v;
(void)simplexSolver;
- const btScalar radialmargin(btScalar(0.));
+// const btScalar radialmargin(btScalar(0.));
btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
btGjkEpaSolver2::sResults results;
+
+
if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
pConvexB,transformB,
guessVector,results))
@@ -45,8 +47,18 @@
//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
+ v = results.normal;
return true;
+ } else
+ {
+ if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
+ {
+ wWitnessOnA = results.witnesses[0];
+ wWitnessOnB = results.witnesses[1];
+ v = results.normal;
+ return false;
}
+ }
return false;
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -25,6 +25,10 @@
{
public :
+ btGjkEpaPenetrationDepthSolver()
+ {
+ }
+
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -38,21 +38,50 @@
int gNumGjkChecks = 0;
-
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
-:m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)),
+:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
m_minkowskiB(objectB),
+m_shapeTypeA(objectA->getShapeType()),
+m_shapeTypeB(objectB->getShapeType()),
+m_marginA(objectA->getMargin()),
+m_marginB(objectB->getMargin()),
m_ignoreMargin(false),
m_lastUsedMethod(-1),
m_catchDegeneracies(1)
{
}
+btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
+:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
+m_penetrationDepthSolver(penetrationDepthSolver),
+m_simplexSolver(simplexSolver),
+m_minkowskiA(objectA),
+m_minkowskiB(objectB),
+m_shapeTypeA(shapeTypeA),
+m_shapeTypeB(shapeTypeB),
+m_marginA(marginA),
+m_marginB(marginB),
+m_ignoreMargin(false),
+m_lastUsedMethod(-1),
+m_catchDegeneracies(1)
+{
+}
-void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
+void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
{
+ (void)swapResults;
+
+ getClosestPointsNonVirtual(input,output,debugDraw);
+}
+
+#ifdef __SPU__
+void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
+#else
+void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
+#endif
+{
m_cachedSeparatingDistance = 0.f;
btScalar distance=btScalar(0.);
@@ -64,21 +93,10 @@
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
-#ifdef __SPU__
- btScalar marginA = m_minkowskiA->getMarginNonVirtual();
- btScalar marginB = m_minkowskiB->getMarginNonVirtual();
-#else
- btScalar marginA = m_minkowskiA->getMargin();
- btScalar marginB = m_minkowskiB->getMargin();
-#ifdef TEST_NON_VIRTUAL
- btScalar marginAv = m_minkowskiA->getMarginNonVirtual();
- btScalar marginBv = m_minkowskiB->getMarginNonVirtual();
- btAssert(marginA == marginAv);
- btAssert(marginB == marginBv);
-#endif //TEST_NON_VIRTUAL
-#endif
-
+ bool check2d = m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d();
+ btScalar marginA = m_marginA;
+ btScalar marginB = m_marginB;
gNumGjkChecks++;
@@ -107,7 +125,7 @@
m_lastUsedMethod = -1;
{
- btScalar squaredDistance = SIMD_INFINITY;
+ btScalar squaredDistance = BT_LARGE_FLOAT;
btScalar delta = btScalar(0.);
btScalar margin = marginA + marginB;
@@ -123,6 +141,15 @@
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
+#if 1
+
+ btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+ btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+// btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA);
+// btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
+
+#else
#ifdef __SPU__
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
@@ -136,7 +163,9 @@
btAssert((qInBv-qInB).length() < 0.0001);
#endif //
#endif //__SPU__
+#endif
+
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
@@ -144,12 +173,19 @@
spu_printf("got local supporting vertices\n");
#endif
+ if (check2d)
+ {
+ pWorld[2] = 0.f;
+ qWorld[2] = 0.f;
+ }
+
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);
// potential exit, they don't overlap
if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
{
+ m_degenerateSimplex = 10;
checkSimplex=true;
//checkPenetration = false;
break;
@@ -171,6 +207,9 @@
if (f0 <= btScalar(0.))
{
m_degenerateSimplex = 2;
+ } else
+ {
+ m_degenerateSimplex = 11;
}
checkSimplex = true;
break;
@@ -184,24 +223,39 @@
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 2\n");
#endif
+ btVector3 newCachedSeparatingAxis;
+
//calculate the closest point to the origin (update vector v)
- if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
+ if (!m_simplexSolver->closest(newCachedSeparatingAxis))
{
m_degenerateSimplex = 3;
checkSimplex = true;
break;
}
- if(m_cachedSeparatingAxis.length2()<REL_ERROR2)
+ if(newCachedSeparatingAxis.length2()<REL_ERROR2)
{
+ m_cachedSeparatingAxis = newCachedSeparatingAxis;
m_degenerateSimplex = 6;
checkSimplex = true;
break;
}
btScalar previousSquaredDistance = squaredDistance;
- squaredDistance = m_cachedSeparatingAxis.length2();
+ squaredDistance = newCachedSeparatingAxis.length2();
+#if 0
+///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
+ if (squaredDistance>previousSquaredDistance)
+ {
+ m_degenerateSimplex = 7;
+ squaredDistance = previousSquaredDistance;
+ checkSimplex = false;
+ break;
+ }
+#endif //
+ m_cachedSeparatingAxis = newCachedSeparatingAxis;
+
//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
//are we getting any closer ?
@@ -209,6 +263,8 @@
{
m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
checkSimplex = true;
+ m_degenerateSimplex = 12;
+
break;
}
@@ -239,6 +295,7 @@
{
//do we need this backup_closest here ?
m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+ m_degenerateSimplex = 13;
break;
}
}
@@ -247,7 +304,8 @@
{
m_simplexSolver->compute_points(pointOnA, pointOnB);
normalInB = pointOnA-pointOnB;
- btScalar lenSqr = m_cachedSeparatingAxis.length2();
+ btScalar lenSqr =m_cachedSeparatingAxis.length2();
+
//valid normal
if (lenSqr < 0.0001)
{
@@ -279,7 +337,7 @@
if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
{
//penetration case
-
+
//if there is no way to handle penetrations, bail out
if (m_penetrationDepthSolver)
{
@@ -287,6 +345,7 @@
btVector3 tmpPointOnA,tmpPointOnB;
gNumDeepPenetrationChecks++;
+ m_cachedSeparatingAxis.setZero();
bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
*m_simplexSolver,
@@ -296,10 +355,17 @@
debugDraw,input.m_stackAlloc
);
+
if (isValid2)
{
btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
btScalar lenSqr = tmpNormalInB.length2();
+ if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
+ {
+ tmpNormalInB = m_cachedSeparatingAxis;
+ lenSqr = m_cachedSeparatingAxis.length2();
+ }
+
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB /= btSqrt(lenSqr);
@@ -315,32 +381,62 @@
m_lastUsedMethod = 3;
} else
{
-
+ m_lastUsedMethod = 8;
}
} else
{
- //isValid = false;
- m_lastUsedMethod = 4;
+ m_lastUsedMethod = 9;
}
} else
+
{
- m_lastUsedMethod = 5;
+ ///this is another degenerate case, where the initial GJK calculation reports a degenerate case
+ ///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
+ ///reports a valid positive distance. Use the results of the second GJK instead of failing.
+ ///thanks to Jacob.Langford for the reproduction case
+ ///http://code.google.com/p/bullet/issues/detail?id=250
+
+
+ if (m_cachedSeparatingAxis.length2() > btScalar(0.))
+ {
+ btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
+ //only replace valid distances when the distance is less
+ if (!isValid || (distance2 < distance))
+ {
+ distance = distance2;
+ pointOnA = tmpPointOnA;
+ pointOnB = tmpPointOnB;
+ pointOnA -= m_cachedSeparatingAxis * marginA ;
+ pointOnB += m_cachedSeparatingAxis * marginB ;
+ normalInB = m_cachedSeparatingAxis;
+ normalInB.normalize();
+ isValid = true;
+ m_lastUsedMethod = 6;
+ } else
+ {
+ m_lastUsedMethod = 5;
+ }
+ }
}
}
+
}
}
- if (isValid)
+
+
+ if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared)))
{
-#ifdef __SPU__
- //spu_printf("distance\n");
-#endif //__CELLOS_LV2__
+#if 0
+///some debugging
+// if (check2d)
+ {
+ printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]);
+ printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex);
+ }
+#endif
-
-#ifdef DEBUG_SPU_COLLISION_DETECTION
- spu_printf("output 1\n");
-#endif
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;
@@ -349,10 +445,6 @@
pointOnB+positionOffset,
distance);
-#ifdef DEBUG_SPU_COLLISION_DETECTION
- spu_printf("output 2\n");
-#endif
- //printf("gjk add:%f",distance);
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -36,6 +36,11 @@
btSimplexSolverInterface* m_simplexSolver;
const btConvexShape* m_minkowskiA;
const btConvexShape* m_minkowskiB;
+ int m_shapeTypeA;
+ int m_shapeTypeB;
+ btScalar m_marginA;
+ btScalar m_marginB;
+
bool m_ignoreMargin;
btScalar m_cachedSeparatingDistance;
@@ -50,10 +55,14 @@
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
+ btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~btGjkPairDetector() {};
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+ void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
+
+
void setMinkowskiA(btConvexShape* minkA)
{
m_minkowskiA = minkA;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -19,6 +19,15 @@
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransformUtil.h"
+// Don't change following order of parameters
+ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow {
+ btScalar mNormal[3];
+ btScalar mRhs;
+ btScalar mJacDiagInv;
+ btScalar mLowerLimit;
+ btScalar mUpperLimit;
+ btScalar mAccumImpulse;
+};
@@ -34,6 +43,10 @@
m_lateralFrictionInitialized(false),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
+ m_contactMotion1(0.f),
+ m_contactMotion2(0.f),
+ m_contactCFM1(0.f),
+ m_contactCFM2(0.f),
m_lifeTime(0)
{
}
@@ -52,10 +65,15 @@
m_lateralFrictionInitialized(false),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
+ m_contactMotion1(0.f),
+ m_contactMotion2(0.f),
+ m_contactCFM1(0.f),
+ m_contactCFM2(0.f),
m_lifeTime(0)
{
-
-
+ mConstraintRow[0].mAccumImpulse = 0.f;
+ mConstraintRow[1].mAccumImpulse = 0.f;
+ mConstraintRow[2].mAccumImpulse = 0.f;
}
@@ -83,11 +101,21 @@
bool m_lateralFrictionInitialized;
btScalar m_appliedImpulseLateral1;
btScalar m_appliedImpulseLateral2;
+ btScalar m_contactMotion1;
+ btScalar m_contactMotion2;
+ btScalar m_contactCFM1;
+ btScalar m_contactCFM2;
+
int m_lifeTime;//lifetime of the contactpoint in frames
btVector3 m_lateralFrictionDir1;
btVector3 m_lateralFrictionDir2;
+
+
+ PfxConstraintRow mConstraintRow[3];
+
+
btScalar getDistance() const
{
return m_distance1;
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,51 +20,6 @@
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#define NUM_UNITSPHERE_POINTS 42
-static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
-{
-btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
-btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
-btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
-btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
-btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
-btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
-btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
-btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
-btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
-btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
-btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
-btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
-btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
-btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
-btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
-btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
-btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
-btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
-btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
-btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
-btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
-btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
-btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
-btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
-btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
-btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
-btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
-btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
-btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
-btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
-btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
-btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
-btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
-btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
-btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
-btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
-btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
-btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
-};
bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
@@ -78,6 +33,7 @@
(void)stackAlloc;
(void)v;
+ bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
{
@@ -91,10 +47,13 @@
btScalar m_depth;
bool m_hasResult;
- virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
+ virtual void setShapeIdentifiersA(int partId0,int index0)
{
(void)partId0;
(void)index0;
+ }
+ virtual void setShapeIdentifiersB(int partId1,int index1)
+ {
(void)partId1;
(void)index1;
}
@@ -108,7 +67,7 @@
};
//just take fixed number of orientation, and sample the penetration depth in that direction
- btScalar minProj = btScalar(1e30);
+ btScalar minProj = btScalar(BT_LARGE_FLOAT);
btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
@@ -129,7 +88,7 @@
for (i=0;i<numSampleDirections;i++)
{
- const btVector3& norm = sPenetrationDirections[i];
+ btVector3 norm = getPenetrationDirections()[i];
seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
}
@@ -143,7 +102,7 @@
btVector3 norm;
convexA->getPreferredPenetrationDirection(i,norm);
norm = transA.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
numSampleDirections++;
@@ -160,7 +119,7 @@
btVector3 norm;
convexB->getPreferredPenetrationDirection(i,norm);
norm = transB.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
numSampleDirections++;
@@ -170,29 +129,44 @@
+
convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
for (i=0;i<numSampleDirections;i++)
{
- const btVector3& norm = sPenetrationDirections[i];
- seperatingAxisInA = seperatingAxisInABatch[i];
- seperatingAxisInB = seperatingAxisInBBatch[i];
+ btVector3 norm = getPenetrationDirections()[i];
+ if (check2d)
+ {
+ norm[2] = 0.f;
+ }
+ if (norm.length2()>0.01)
+ {
- pInA = supportVerticesABatch[i];
- qInB = supportVerticesBBatch[i];
+ seperatingAxisInA = seperatingAxisInABatch[i];
+ seperatingAxisInB = seperatingAxisInBBatch[i];
- pWorld = transA(pInA);
- qWorld = transB(qInB);
- w = qWorld - pWorld;
- btScalar delta = norm.dot(w);
- //find smallest delta
- if (delta < minProj)
- {
- minProj = delta;
- minNorm = norm;
- minA = pWorld;
- minB = qWorld;
+ pInA = supportVerticesABatch[i];
+ qInB = supportVerticesBBatch[i];
+
+ pWorld = transA(pInA);
+ qWorld = transB(qInB);
+ if (check2d)
+ {
+ pWorld[2] = 0.f;
+ qWorld[2] = 0.f;
+ }
+
+ w = qWorld - pWorld;
+ btScalar delta = norm.dot(w);
+ //find smallest delta
+ if (delta < minProj)
+ {
+ minProj = delta;
+ minNorm = norm;
+ minA = pWorld;
+ minB = qWorld;
+ }
}
}
#else
@@ -209,7 +183,7 @@
btVector3 norm;
convexA->getPreferredPenetrationDirection(i,norm);
norm = transA.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
numSampleDirections++;
}
}
@@ -224,7 +198,7 @@
btVector3 norm;
convexB->getPreferredPenetrationDirection(i,norm);
norm = transB.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
numSampleDirections++;
}
}
@@ -233,7 +207,7 @@
for (int i=0;i<numSampleDirections;i++)
{
- const btVector3& norm = sPenetrationDirections[i];
+ const btVector3& norm = getPenetrationDirections()[i];
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
@@ -261,7 +235,8 @@
if (minProj < btScalar(0.))
return false;
- minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
+ btScalar extraSeparation = 0.5f;///scale dependent
+ minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
@@ -299,9 +274,10 @@
input.m_transformA = displacedTrans;
input.m_transformB = transB;
- input.m_maximumDistanceSquared = btScalar(1e30);//minProj;
+ input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
btIntermediateResult res;
+ gjkdet.setCachedSeperatingAxis(-minNorm);
gjkdet.getClosestPoints(input,res,debugDraw);
btScalar correctedMinNorm = minProj - res.m_depth;
@@ -310,12 +286,14 @@
//the penetration depth is over-estimated, relax it
btScalar penetration_relaxation= btScalar(1.);
minNorm*=penetration_relaxation;
+
if (res.m_hasResult)
{
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
pb = res.m_pointInWorld;
+ v = minNorm;
#ifdef DEBUG_DRAW
if (debugDraw)
@@ -330,5 +308,55 @@
return res.m_hasResult;
}
+btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
+{
+ static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
+ {
+ btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
+ btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
+ btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
+ btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
+ btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
+ btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
+ btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
+ btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
+ btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
+ btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
+ btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
+ btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
+ btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
+ btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
+ btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
+ btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
+ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
+ };
+ return sPenetrationDirections;
+}
+
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -22,6 +22,10 @@
///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
{
+protected:
+
+ static btVector3* getPenetrationDirections();
+
public:
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -25,7 +25,8 @@
btPersistentManifold::btPersistentManifold()
-:m_body0(0),
+:btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
+m_body0(0),
m_body1(0),
m_cachedPoints (0),
m_index1a(0)
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -30,10 +30,15 @@
typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
extern ContactDestroyedCallback gContactDestroyedCallback;
+extern ContactProcessedCallback gContactProcessedCallback;
+enum btContactManifoldTypes
+{
+ BT_PERSISTENT_MANIFOLD_TYPE = 1,
+ MAX_CONTACT_MANIFOLD_TYPE
+};
-
#define MANIFOLD_CACHE_SIZE 4
///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
@@ -43,7 +48,10 @@
///reduces the cache to 4 points, when more then 4 points are added, using following rules:
///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
///note that some pairs of objects might have more then one contact manifold.
-ATTRIBUTE_ALIGNED16( class) btPersistentManifold
+
+
+ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
+//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
{
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
@@ -52,6 +60,7 @@
/// void* will allow any rigidbody class
void* m_body0;
void* m_body1;
+
int m_cachedPoints;
btScalar m_contactBreakingThreshold;
@@ -67,16 +76,19 @@
BT_DECLARE_ALIGNED_ALLOCATOR();
+ int m_companionIdA;
+ int m_companionIdB;
+
int m_index1a;
btPersistentManifold();
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
- : m_body0(body0),m_body1(body1),m_cachedPoints(0),
+ : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
+ m_body0(body0),m_body1(body1),m_cachedPoints(0),
m_contactBreakingThreshold(contactBreakingThreshold),
m_contactProcessingThreshold(contactProcessingThreshold)
{
-
}
SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
@@ -134,6 +146,10 @@
m_pointCache[index] = m_pointCache[lastUsedIndex];
//get rid of duplicated userPersistentData pointer
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
+ m_pointCache[lastUsedIndex].mConstraintRow[0].mAccumImpulse = 0.f;
+ m_pointCache[lastUsedIndex].mConstraintRow[1].mAccumImpulse = 0.f;
+ m_pointCache[lastUsedIndex].mConstraintRow[2].mAccumImpulse = 0.f;
+
m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
@@ -151,10 +167,13 @@
#define MAINTAIN_PERSISTENCY 1
#ifdef MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].getLifeTime();
- btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
- btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
- btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
-
+ btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse;
+ btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse;
+ btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse;
+// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
+
+
+
btAssert(lifeTime>=0);
void* cache = m_pointCache[insertIndex].m_userPersistentData;
@@ -165,6 +184,11 @@
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
+ m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse = appliedImpulse;
+ m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse = appliedLateralImpulse1;
+ m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse = appliedLateralImpulse2;
+
+
m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else
clearUserCache(m_pointCache[insertIndex]);
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -31,17 +31,20 @@
bool m_hasResult;
btPointCollector ()
- : m_distance(btScalar(1e30)),m_hasResult(false)
+ : m_distance(btScalar(BT_LARGE_FLOAT)),m_hasResult(false)
{
}
- virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
+ virtual void setShapeIdentifiersA(int partId0,int index0)
{
(void)partId0;
(void)index0;
+
+ }
+ virtual void setShapeIdentifiersB(int partId1,int index1)
+ {
(void)partId1;
(void)index1;
- //??
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -114,7 +114,10 @@
hasResult = true;
}
}
- m_simplexSolver->addVertex( w, supVertexA , supVertexB);
+ ///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
+ if (!m_simplexSolver->inSimplex(w))
+ m_simplexSolver->addVertex( w, supVertexA , supVertexB);
+
if (m_simplexSolver->closest(v))
{
dist2 = v.length2();
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -68,7 +68,7 @@
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
- m_lastW = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+ m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
m_cachedBC.reset();
}
@@ -289,7 +289,11 @@
//w is in the current (reduced) simplex
for (i=0;i<numverts;i++)
{
+#ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
+ if ( m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
+#else
if (m_simplexVectorW[i] == w)
+#endif
found = true;
}
Modified: code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -24,6 +24,11 @@
#define VORONOI_SIMPLEX_MAX_VERTS 5
+///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
+#define BT_USE_EQUAL_VERTEX_THRESHOLD
+#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
+
+
struct btUsageBitfield{
btUsageBitfield()
{
@@ -106,8 +111,11 @@
btVector3 m_cachedP2;
btVector3 m_cachedV;
btVector3 m_lastW;
+
+ btScalar m_equalVertexThreshold;
bool m_cachedValidClosest;
+
btSubSimplexClosestResult m_cachedBC;
bool m_needsUpdate;
@@ -122,11 +130,24 @@
public:
+ btVoronoiSimplexSolver()
+ : m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
+ {
+ }
void reset();
void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
+ void setEqualVertexThreshold(btScalar threshold)
+ {
+ m_equalVertexThreshold = threshold;
+ }
+ btScalar getEqualVertexThreshold() const
+ {
+ return m_equalVertexThreshold;
+ }
+
bool closest(btVector3& v);
btScalar maxVertex();
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -2,34 +2,39 @@
COMPILATION_BEGIN BulletDynamicsCompilation.cpp
+ Character/btKinematicCharacterController.cpp
+
+ ConstraintSolver/btConeTwistConstraint.cpp
ConstraintSolver/btContactConstraint.cpp
- ConstraintSolver/btConeTwistConstraint.cpp
ConstraintSolver/btGeneric6DofConstraint.cpp
+ ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+ ConstraintSolver/btHinge2Constraint.cpp
ConstraintSolver/btHingeConstraint.cpp
ConstraintSolver/btPoint2PointConstraint.cpp
ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
ConstraintSolver/btSliderConstraint.cpp
ConstraintSolver/btSolve2LinearConstraint.cpp
ConstraintSolver/btTypedConstraint.cpp
+ ConstraintSolver/btUniversalConstraint.cpp
- Dynamics/Bullet-C-API.cpp
+ Dynamics/btContinuousDynamicsWorld.cpp
Dynamics/btDiscreteDynamicsWorld.cpp
+ Dynamics/btRigidBody.cpp
Dynamics/btSimpleDynamicsWorld.cpp
- Dynamics/btRigidBody.cpp
-
+ Dynamics/Bullet-C-API.cpp
Vehicle/btRaycastVehicle.cpp
Vehicle/btWheelInfo.cpp
- Character/btKinematicCharacterController.cpp
-
COMPILATION_END
# Headers
+ ConstraintSolver/btConeTwistConstraint.h
ConstraintSolver/btConstraintSolver.h
ConstraintSolver/btContactConstraint.h
ConstraintSolver/btContactSolverInfo.h
- ConstraintSolver/btConeTwistConstraint.h
ConstraintSolver/btGeneric6DofConstraint.h
+ ConstraintSolver/btGeneric6DofSpringConstraint.h
+ ConstraintSolver/btHinge2Constraint.h
ConstraintSolver/btHingeConstraint.h
ConstraintSolver/btJacobianEntry.h
ConstraintSolver/btPoint2PointConstraint.h
@@ -39,7 +44,7 @@
ConstraintSolver/btSolverBody.h
ConstraintSolver/btSolverConstraint.h
ConstraintSolver/btTypedConstraint.h
-
+ ConstraintSolver/btUniversalConstraint.h
Dynamics/btActionInterface.h
Dynamics/btContinuousDynamicsWorld.h
Dynamics/btDiscreteDynamicsWorld.h
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btCharacterControllerInterface.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btCharacterControllerInterface.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btCharacterControllerInterface.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -30,6 +30,7 @@
virtual ~btCharacterControllerInterface () {};
virtual void setWalkDirection(const btVector3& walkDirection) = 0;
+ virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
virtual void reset () = 0;
virtual void warp (const btVector3& origin) = 0;
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -13,6 +13,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@@ -22,8 +23,19 @@
#include "LinearMath/btDefaultMotionState.h"
#include "btKinematicCharacterController.h"
-static btVector3 upAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
+// static helper method
+static btVector3
+getNormalizedVector(const btVector3& v)
+{
+ btVector3 n = v.normalized();
+ if (n.length() < SIMD_EPSILON) {
+ n.setValue(0, 0, 0);
+ }
+ return n;
+}
+
+
///@todo Interact with dynamic objects,
///Ride kinematicly animated platforms properly
///More realistic (or maybe just a config option) falling
@@ -52,20 +64,40 @@
class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
{
public:
- btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
+ btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me, const btVector3& up, btScalar minSlopeDot)
+ : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
+ , m_me(me)
+ , m_up(up)
+ , m_minSlopeDot(minSlopeDot)
{
- m_me = me;
}
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
{
if (convexResult.m_hitCollisionObject == m_me)
- return 1.0;
+ return btScalar(1.0);
+ btVector3 hitNormalWorld;
+ if (normalInWorldSpace)
+ {
+ hitNormalWorld = convexResult.m_hitNormalLocal;
+ } else
+ {
+ ///need to transform normal into worldspace
+ hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
+ }
+
+ btScalar dotUp = m_up.dot(hitNormalWorld);
+ if (dotUp < m_minSlopeDot) {
+ return btScalar(1.0);
+ }
+
return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace);
}
protected:
btCollisionObject* m_me;
+ const btVector3 m_up;
+ btScalar m_minSlopeDot;
};
/*
@@ -98,13 +130,23 @@
btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis)
{
m_upAxis = upAxis;
- m_addedMargin = 0.02f;
+ m_addedMargin = 0.02;
m_walkDirection.setValue(0,0,0);
m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_stepHeight = stepHeight;
m_turnAngle = btScalar(0.0);
m_convexShape=convexShape;
+ m_useWalkDirection = true; // use walk direction by default, legacy behavior
+ m_velocityTimeInterval = 0.0;
+ m_verticalVelocity = 0.0;
+ m_verticalOffset = 0.0;
+ m_gravity = 9.8 * 3 ; // 3G acceleration.
+ m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s.
+ m_jumpSpeed = 10.0; // ?
+ m_wasOnGround = false;
+ m_wasJumping = false;
+ setMaxSlope(btRadians(45.0));
}
btKinematicCharacterController::~btKinematicCharacterController ()
@@ -144,18 +186,20 @@
{
const btManifoldPoint&pt = manifold->getContactPoint(p);
- if (pt.getDistance() < 0.0)
+ btScalar dist = pt.getDistance();
+
+ if (dist < 0.0)
{
- if (pt.getDistance() < maxPen)
+ if (dist < maxPen)
{
- maxPen = pt.getDistance();
+ maxPen = dist;
m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
}
- m_currentPosition += pt.m_normalWorldOnB * directionSign * pt.getDistance() * btScalar(0.2);
+ m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);
penetration = true;
} else {
- //printf("touching %f\n", pt.getDistance());
+ //printf("touching %f\n", dist);
}
}
@@ -173,16 +217,16 @@
{
// phase 1: up
btTransform start, end;
- m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * m_stepHeight;
+ m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.f?m_verticalOffset:0.f));
start.setIdentity ();
end.setIdentity ();
/* FIXME: Handle penetration properly */
- start.setOrigin (m_currentPosition + upAxisDirection[m_upAxis] * btScalar(0.1f));
+ start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_convexShape->getMargin() + m_addedMargin));
end.setOrigin (m_targetPosition);
- btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
+ btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.7071));
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -197,9 +241,15 @@
if (callback.hasHit())
{
- // we moved up only a fraction of the step height
- m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
- m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+ // Only modify the position if the hit was a slope and not a wall or ceiling.
+ if(callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > 0.0)
+ {
+ // we moved up only a fraction of the step height
+ m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
+ m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+ }
+ m_verticalVelocity = 0.0;
+ m_verticalOffset = 0.0;
} else {
m_currentStepOffset = m_stepHeight;
m_currentPosition = m_targetPosition;
@@ -244,16 +294,12 @@
void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
{
-
- btVector3 originalDir = walkMove.normalized();
- if (walkMove.length() < SIMD_EPSILON)
- {
- originalDir.setValue(0.f,0.f,0.f);
- }
-// printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
+ // printf("m_normalizedDirection=%f,%f,%f\n",
+ // m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]);
// phase 2: forward and strafe
btTransform start, end;
m_targetPosition = m_currentPosition + walkMove;
+
start.setIdentity ();
end.setIdentity ();
@@ -263,8 +309,10 @@
if (m_touchingContact)
{
- if (originalDir.dot(m_touchingNormal) > btScalar(0.0))
+ if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
+ {
updateTargetPositionBasedOnCollision (m_touchingNormal);
+ }
}
int maxIter = 10;
@@ -273,8 +321,9 @@
{
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
+ btVector3 sweepDirNegative(m_currentPosition - m_targetPosition);
- btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
+ btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, sweepDirNegative, btScalar(0.0));
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -299,18 +348,10 @@
if (callback.hasHit())
{
// we moved only a fraction
- btScalar hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
- if (hitDistance<0.f)
- {
-// printf("neg dist?\n");
- }
+ btScalar hitDistance;
+ hitDistance = (callback.m_hitPointWorld - m_currentPosition).length();
- /* If the distance is farther than the collision margin, move */
- if (hitDistance > m_addedMargin)
- {
-// printf("callback.m_closestHitFraction=%f\n",callback.m_closestHitFraction);
- m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
- }
+// m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld);
btVector3 currentDir = m_targetPosition - m_currentPosition;
@@ -319,7 +360,7 @@
{
currentDir.normalize();
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
- if (currentDir.dot(originalDir) <= btScalar(0.0))
+ if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0))
{
break;
}
@@ -328,6 +369,7 @@
// printf("currentDir: don't normalize a zero vector\n");
break;
}
+
} else {
// we moved whole way
m_currentPosition = m_targetPosition;
@@ -344,17 +386,29 @@
btTransform start, end;
// phase 3: down
- btVector3 step_drop = upAxisDirection[m_upAxis] * m_currentStepOffset;
- btVector3 gravity_drop = upAxisDirection[m_upAxis] * m_stepHeight;
- m_targetPosition -= (step_drop + gravity_drop);
+ /*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
+ btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep);
+ btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
+ btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
+ m_targetPosition -= (step_drop + gravity_drop);*/
+ btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
+ if(downVelocity > 0.0 && downVelocity < m_stepHeight
+ && (m_wasOnGround || !m_wasJumping))
+ {
+ downVelocity = m_stepHeight;
+ }
+
+ btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
+ m_targetPosition -= step_drop;
+
start.setIdentity ();
end.setIdentity ();
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
- btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject);
+ btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
@@ -370,6 +424,9 @@
{
// we dropped a fraction of the height -> hit floor
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
+ m_verticalVelocity = 0.0;
+ m_verticalOffset = 0.0;
+ m_wasJumping = false;
} else {
// we dropped the full height
@@ -377,6 +434,39 @@
}
}
+
+
+void btKinematicCharacterController::setWalkDirection
+(
+const btVector3& walkDirection
+)
+{
+ m_useWalkDirection = true;
+ m_walkDirection = walkDirection;
+ m_normalizedDirection = getNormalizedVector(m_walkDirection);
+}
+
+
+
+void btKinematicCharacterController::setVelocityForTimeInterval
+(
+const btVector3& velocity,
+btScalar timeInterval
+)
+{
+// printf("setVelocity!\n");
+// printf(" interval: %f\n", timeInterval);
+// printf(" velocity: (%f, %f, %f)\n",
+// velocity.x(), velocity.y(), velocity.z());
+
+ m_useWalkDirection = false;
+ m_walkDirection = velocity;
+ m_normalizedDirection = getNormalizedVector(m_walkDirection);
+ m_velocityTimeInterval = timeInterval;
+}
+
+
+
void btKinematicCharacterController::reset ()
{
}
@@ -401,7 +491,7 @@
m_touchingContact = true;
if (numPenetrationLoops > 4)
{
-// printf("character could not recover from penetration = %d\n", numPenetrationLoops);
+ //printf("character could not recover from penetration = %d\n", numPenetrationLoops);
break;
}
}
@@ -413,8 +503,34 @@
}
+#include <stdio.h>
+
void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt)
{
+// printf("playerStep(): ");
+// printf(" dt = %f", dt);
+
+ // quick check...
+ if (!m_useWalkDirection && m_velocityTimeInterval <= 0.0) {
+// printf("\n");
+ return; // no motion
+ }
+
+ m_wasOnGround = onGround();
+
+ // Update fall velocity.
+ m_verticalVelocity -= m_gravity * dt;
+ if(m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed)
+ {
+ m_verticalVelocity = m_jumpSpeed;
+ }
+ if(m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed))
+ {
+ m_verticalVelocity = -btFabs(m_fallSpeed);
+ }
+ m_verticalOffset = m_verticalVelocity * dt;
+
+
btTransform xform;
xform = m_ghostObject->getWorldTransform ();
@@ -422,9 +538,27 @@
// printf("walkSpeed=%f\n",walkSpeed);
stepUp (collisionWorld);
- stepForwardAndStrafe (collisionWorld, m_walkDirection);
+ if (m_useWalkDirection) {
+ stepForwardAndStrafe (collisionWorld, m_walkDirection);
+ } else {
+ //printf(" time: %f", m_velocityTimeInterval);
+ // still have some time left for moving!
+ btScalar dtMoving =
+ (dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval;
+ m_velocityTimeInterval -= dt;
+
+ // how far will we move while we are moving?
+ btVector3 move = m_walkDirection * dtMoving;
+
+ //printf(" dtMoving: %f", dtMoving);
+
+ // okay, step
+ stepForwardAndStrafe(collisionWorld, move);
+ }
stepDown (collisionWorld, dt);
+ // printf("\n");
+
xform.setOrigin (m_currentPosition);
m_ghostObject->setWorldTransform (xform);
}
@@ -454,6 +588,9 @@
if (!canJump())
return;
+ m_verticalVelocity = m_jumpSpeed;
+ m_wasJumping = true;
+
#if 0
currently no jumping.
btTransform xform;
@@ -465,12 +602,40 @@
#endif
}
+void btKinematicCharacterController::setGravity(btScalar gravity)
+{
+ m_gravity = gravity;
+}
+
+btScalar btKinematicCharacterController::getGravity() const
+{
+ return m_gravity;
+}
+
+void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians)
+{
+ m_maxSlopeRadians = slopeRadians;
+ m_maxSlopeCosine = btCos(slopeRadians);
+}
+
+btScalar btKinematicCharacterController::getMaxSlope() const
+{
+ return m_maxSlopeRadians;
+}
+
bool btKinematicCharacterController::onGround () const
{
- return true;
+ return m_verticalVelocity == 0.0 && m_verticalOffset == 0.0;
}
-void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
+btVector3* btKinematicCharacterController::getUpAxisDirections()
{
-}
\ No newline at end of file
+ static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) };
+
+ return sUpAxisDirection;
+}
+
+void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
+{
+}
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Character/btKinematicCharacterController.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -13,6 +13,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
#ifndef KINEMATIC_CHARACTER_CONTROLLER_H
#define KINEMATIC_CHARACTER_CONTROLLER_H
@@ -20,6 +21,9 @@
#include "btCharacterControllerInterface.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+
class btCollisionShape;
class btRigidBody;
class btCollisionWorld;
@@ -32,14 +36,20 @@
class btKinematicCharacterController : public btCharacterControllerInterface
{
protected:
+
btScalar m_halfHeight;
btPairCachingGhostObject* m_ghostObject;
btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
+ btScalar m_verticalVelocity;
+ btScalar m_verticalOffset;
btScalar m_fallSpeed;
btScalar m_jumpSpeed;
btScalar m_maxJumpHeight;
+ btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
+ btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
+ btScalar m_gravity;
btScalar m_turnAngle;
@@ -49,6 +59,7 @@
///this is the desired walk direction, set by the user
btVector3 m_walkDirection;
+ btVector3 m_normalizedDirection;
//some internal variables
btVector3 m_currentPosition;
@@ -61,10 +72,15 @@
bool m_touchingContact;
btVector3 m_touchingNormal;
+ bool m_wasOnGround;
+ bool m_wasJumping;
bool m_useGhostObjectSweepTest;
+ bool m_useWalkDirection;
+ btScalar m_velocityTimeInterval;
+ int m_upAxis;
- int m_upAxis;
-
+ static btVector3* getUpAxisDirections();
+
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
@@ -98,11 +114,21 @@
m_upAxis = axis;
}
- virtual void setWalkDirection(const btVector3& walkDirection)
- {
- m_walkDirection = walkDirection;
- }
+ /// This should probably be called setPositionIncrementPerSimulatorStep.
+ /// This is neither a direction nor a velocity, but the amount to
+ /// increment the position each simulation iteration, regardless
+ /// of dt.
+ /// This call will reset any velocity set by setVelocityForTimeInterval().
+ virtual void setWalkDirection(const btVector3& walkDirection);
+ /// Caller provides a velocity with which the character should move for
+ /// the given time period. After the time period, velocity is reset
+ /// to zero.
+ /// This call will reset any walk direction set by setWalkDirection().
+ /// Negative time intervals will result in no motion.
+ virtual void setVelocityForTimeInterval(const btVector3& velocity,
+ btScalar timeInterval);
+
void reset ();
void warp (const btVector3& origin);
@@ -113,8 +139,17 @@
void setJumpSpeed (btScalar jumpSpeed);
void setMaxJumpHeight (btScalar maxJumpHeight);
bool canJump () const;
+
void jump ();
+ void setGravity(btScalar gravity);
+ btScalar getGravity() const;
+
+ /// The max slope determines the maximum angle that the controller can walk up.
+ /// The slope angle is measured in radians.
+ void setMaxSlope(btScalar slopeRadians);
+ btScalar getMaxSlope() const;
+
btPairCachingGhostObject* getGhostObject();
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
{
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -22,20 +22,22 @@
#include "LinearMath/btMinMax.h"
#include <new>
-//-----------------------------------------------------------------------------
+
+//#define CONETWIST_USE_OBSOLETE_SOLVER true
#define CONETWIST_USE_OBSOLETE_SOLVER false
#define CONETWIST_DEF_FIX_THRESH btScalar(.05f)
-//-----------------------------------------------------------------------------
-btConeTwistConstraint::btConeTwistConstraint()
-:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE),
-m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
+SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis, const btMatrix3x3& invInertiaWorld)
{
+ btVector3 vec = axis * invInertiaWorld;
+ return axis.dot(vec);
}
+
+
btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,
const btTransform& rbAFrame,const btTransform& rbBFrame)
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
@@ -63,14 +65,16 @@
m_bMotorEnabled = false;
m_maxMotorImpulse = btScalar(-1);
- setLimit(btScalar(1e30), btScalar(1e30), btScalar(1e30));
+ setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_damping = btScalar(0.01);
m_fixThresh = CONETWIST_DEF_FIX_THRESH;
+ m_flags = 0;
+ m_linCFM = btScalar(0.f);
+ m_linERP = btScalar(0.7f);
+ m_angCFM = btScalar(0.f);
}
-//-----------------------------------------------------------------------------
-
void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info)
{
if (m_useSolveConstraintObsolete)
@@ -82,7 +86,7 @@
{
info->m_numConstraintRows = 3;
info->nub = 3;
- calcAngleInfo2();
+ calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
if(m_solveSwingLimit)
{
info->m_numConstraintRows++;
@@ -99,23 +103,32 @@
info->nub--;
}
}
-} // btConeTwistConstraint::getInfo1()
+}
+
+void btConeTwistConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+{
+ //always reserve 6 rows: object transform is not available on SPU
+ info->m_numConstraintRows = 6;
+ info->nub = 0;
+
+}
-//-----------------------------------------------------------------------------
void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info)
{
+ getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
+}
+
+void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB)
+{
+ calcAngleInfo2(transA,transB,invInertiaWorldA,invInertiaWorldB);
+
btAssert(!m_useSolveConstraintObsolete);
- //retrieve matrices
- btTransform body0_trans;
- body0_trans = m_rbA.getCenterOfMassTransform();
- btTransform body1_trans;
- body1_trans = m_rbB.getCenterOfMassTransform();
// set jacobian
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[info->rowskip+1] = 1;
info->m_J1linearAxis[2*info->rowskip+2] = 1;
- btVector3 a1 = body0_trans.getBasis() * m_rbAFrame.getOrigin();
+ btVector3 a1 = transA.getBasis() * m_rbAFrame.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
@@ -123,7 +136,7 @@
btVector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
- btVector3 a2 = body1_trans.getBasis() * m_rbBFrame.getOrigin();
+ btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
@@ -131,13 +144,18 @@
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// set right hand side
- btScalar k = info->fps * info->erp;
+ btScalar linERP = (m_flags & BT_CONETWIST_FLAGS_LIN_ERP) ? m_linERP : info->erp;
+ btScalar k = info->fps * linERP;
int j;
for (j=0; j<3; j++)
{
- info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
+ info->m_constraintError[j*info->rowskip] = k * (a2[j] + transB.getOrigin()[j] - a1[j] - transA.getOrigin()[j]);
info->m_lowerLimit[j*info->rowskip] = -SIMD_INFINITY;
info->m_upperLimit[j*info->rowskip] = SIMD_INFINITY;
+ if(m_flags & BT_CONETWIST_FLAGS_LIN_CFM)
+ {
+ info->cfm[j*info->rowskip] = m_linCFM;
+ }
}
int row = 3;
int srow = row * info->rowskip;
@@ -149,7 +167,7 @@
btScalar *J2 = info->m_J2angularAxis;
if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh))
{
- btTransform trA = m_rbA.getCenterOfMassTransform()*m_rbAFrame;
+ btTransform trA = transA*m_rbAFrame;
btVector3 p = trA.getBasis().getColumn(1);
btVector3 q = trA.getBasis().getColumn(2);
int srow1 = srow + info->rowskip;
@@ -186,7 +204,10 @@
btScalar k = info->fps * m_biasFactor;
info->m_constraintError[srow] = k * m_swingCorrection;
- info->cfm[srow] = 0.0f;
+ if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
+ {
+ info->cfm[srow] = m_angCFM;
+ }
// m_swingCorrection is always positive or 0
info->m_lowerLimit[srow] = 0;
info->m_upperLimit[srow] = SIMD_INFINITY;
@@ -206,7 +227,10 @@
J2[srow+2] = -ax1[2];
btScalar k = info->fps * m_biasFactor;
info->m_constraintError[srow] = k * m_twistCorrection;
- info->cfm[srow] = 0.0f;
+ if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM)
+ {
+ info->cfm[srow] = m_angCFM;
+ }
if(m_twistSpan > 0.0f)
{
@@ -230,8 +254,8 @@
}
}
-//-----------------------------------------------------------------------------
+
void btConeTwistConstraint::buildJacobian()
{
if (m_useSolveConstraintObsolete)
@@ -239,6 +263,7 @@
m_appliedImpulse = btScalar(0.);
m_accTwistLimitImpulse = btScalar(0.);
m_accSwingLimitImpulse = btScalar(0.);
+ m_accMotorImpulse = btVector3(0.,0.,0.);
if (!m_angularOnly)
{
@@ -273,14 +298,15 @@
}
}
- calcAngleInfo2();
+ calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld());
}
}
-//-----------------------------------------------------------------------------
-void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
+
+void btConeTwistConstraint::solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar timeStep)
{
+ #ifndef __SPU__
if (m_useSolveConstraintObsolete)
{
btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
@@ -295,9 +321,9 @@
btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
btVector3 vel1;
- bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
+ bodyA.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
btVector3 vel2;
- bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
+ bodyB.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
btVector3 vel = vel1 - vel2;
for (int i=0;i<3;i++)
@@ -314,8 +340,8 @@
btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
- bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
- bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
+ bodyA.internalApplyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
+ bodyB.internalApplyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
}
}
@@ -326,8 +352,8 @@
// compute current and predicted transforms
btTransform trACur = m_rbA.getCenterOfMassTransform();
btTransform trBCur = m_rbB.getCenterOfMassTransform();
- btVector3 omegaA; bodyA.getAngularVelocity(omegaA);
- btVector3 omegaB; bodyB.getAngularVelocity(omegaB);
+ btVector3 omegaA; bodyA.internalGetAngularVelocity(omegaA);
+ btVector3 omegaB; bodyB.internalGetAngularVelocity(omegaB);
btTransform trAPred; trAPred.setIdentity();
btVector3 zerovec(0,0,0);
btTransformUtil::integrateTransform(
@@ -401,15 +427,15 @@
btScalar impulseMag = impulse.length();
btVector3 impulseAxis = impulse / impulseMag;
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
+ bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
+ bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
}
}
- else // no motor: do a little damping
+ else if (m_damping > SIMD_EPSILON) // no motor: do a little damping
{
- const btVector3& angVelA = getRigidBodyA().getAngularVelocity();
- const btVector3& angVelB = getRigidBodyB().getAngularVelocity();
+ btVector3 angVelA; bodyA.internalGetAngularVelocity(angVelA);
+ btVector3 angVelB; bodyB.internalGetAngularVelocity(angVelB);
btVector3 relVel = angVelB - angVelA;
if (relVel.length2() > SIMD_EPSILON)
{
@@ -421,8 +447,8 @@
btScalar impulseMag = impulse.length();
btVector3 impulseAxis = impulse / impulseMag;
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
+ bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag);
+ bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag);
}
}
@@ -430,9 +456,9 @@
{
///solve angular part
btVector3 angVelA;
- bodyA.getAngularVelocity(angVelA);
+ bodyA.internalGetAngularVelocity(angVelA);
btVector3 angVelB;
- bodyB.getAngularVelocity(angVelB);
+ bodyB.internalGetAngularVelocity(angVelB);
// solve swing limit
if (m_solveSwingLimit)
@@ -461,8 +487,8 @@
impulseMag = impulse.length();
btVector3 noTwistSwingAxis = impulse / impulseMag;
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag);
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag);
+ bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag);
+ bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag);
}
@@ -482,24 +508,27 @@
btVector3 impulse = m_twistAxis * impulseMag;
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
+ bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag);
+ bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag);
}
}
}
-
+#else
+btAssert(0);
+#endif //__SPU__
}
-//-----------------------------------------------------------------------------
+
+
void btConeTwistConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
}
-//-----------------------------------------------------------------------------
+#ifndef __SPU__
void btConeTwistConstraint::calcAngleInfo()
{
m_swingCorrection = btScalar(0.);
@@ -584,26 +613,47 @@
m_twistAxis.normalize();
}
}
-} // btConeTwistConstraint::calcAngleInfo()
+}
+#endif //__SPU__
-
static btVector3 vTwist(1,0,0); // twist axis in constraint's space
-//-----------------------------------------------------------------------------
-void btConeTwistConstraint::calcAngleInfo2()
+
+void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB)
{
m_swingCorrection = btScalar(0.);
m_twistLimitSign = btScalar(0.);
m_solveTwistLimit = false;
m_solveSwingLimit = false;
+ // compute rotation of A wrt B (in constraint space)
+ if (m_bMotorEnabled && (!m_useSolveConstraintObsolete))
+ { // it is assumed that setMotorTarget() was alredy called
+ // and motor target m_qTarget is within constraint limits
+ // TODO : split rotation to pure swing and pure twist
+ // compute desired transforms in world
+ btTransform trPose(m_qTarget);
+ btTransform trA = transA * m_rbAFrame;
+ btTransform trB = transB * m_rbBFrame;
+ btTransform trDeltaAB = trB * trPose * trA.inverse();
+ btQuaternion qDeltaAB = trDeltaAB.getRotation();
+ btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
+ m_swingAxis = swingAxis;
+ m_swingAxis.normalize();
+ m_swingCorrection = qDeltaAB.getAngle();
+ if(!btFuzzyZero(m_swingCorrection))
+ {
+ m_solveSwingLimit = true;
+ }
+ return;
+ }
+
{
// compute rotation of A wrt B (in constraint space)
- btQuaternion qA = getRigidBodyA().getCenterOfMassTransform().getRotation() * m_rbAFrame.getRotation();
- btQuaternion qB = getRigidBodyB().getCenterOfMassTransform().getRotation() * m_rbBFrame.getRotation();
+ btQuaternion qA = transA.getRotation() * m_rbAFrame.getRotation();
+ btQuaternion qB = transB.getRotation() * m_rbBFrame.getRotation();
btQuaternion qAB = qB.inverse() * qA;
-
// split rotation into cone and twist
// (all this is done from B's perspective. Maybe I should be averaging axes...)
btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
@@ -641,8 +691,8 @@
m_twistAxisA.setValue(0,0,0);
m_kSwing = btScalar(1.) /
- (getRigidBodyA().computeAngularImpulseDenominator(m_swingAxis) +
- getRigidBodyB().computeAngularImpulseDenominator(m_swingAxis));
+ (computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldA) +
+ computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldB));
}
}
else
@@ -650,10 +700,10 @@
// you haven't set any limits;
// or you're trying to set at least one of the swing limits too small. (if so, do you really want a conetwist constraint?)
// anyway, we have either hinge or fixed joint
- btVector3 ivA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(0);
- btVector3 jvA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(1);
- btVector3 kvA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
- btVector3 ivB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(0);
+ btVector3 ivA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
+ btVector3 jvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
+ btVector3 kvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(2);
+ btVector3 ivB = transB.getBasis() * m_rbBFrame.getBasis().getColumn(0);
btVector3 target;
btScalar x = ivB.dot(ivA);
btScalar y = ivB.dot(jvA);
@@ -744,8 +794,8 @@
m_twistAxis = quatRotate(qB, -twistAxis);
m_kTwist = btScalar(1.) /
- (getRigidBodyA().computeAngularImpulseDenominator(m_twistAxis) +
- getRigidBodyB().computeAngularImpulseDenominator(m_twistAxis));
+ (computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldA) +
+ computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldB));
}
if (m_solveSwingLimit)
@@ -756,7 +806,7 @@
m_twistAngle = btScalar(0.f);
}
}
-} // btConeTwistConstraint::calcAngleInfo2()
+}
@@ -981,9 +1031,87 @@
}
}
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+///If no axis is provided, it uses the default axis for this constraint.
+void btConeTwistConstraint::setParam(int num, btScalar value, int axis)
+{
+ switch(num)
+ {
+ case BT_CONSTRAINT_ERP :
+ case BT_CONSTRAINT_STOP_ERP :
+ if((axis >= 0) && (axis < 3))
+ {
+ m_linERP = value;
+ m_flags |= BT_CONETWIST_FLAGS_LIN_ERP;
+ }
+ else
+ {
+ m_biasFactor = value;
+ }
+ break;
+ case BT_CONSTRAINT_CFM :
+ case BT_CONSTRAINT_STOP_CFM :
+ if((axis >= 0) && (axis < 3))
+ {
+ m_linCFM = value;
+ m_flags |= BT_CONETWIST_FLAGS_LIN_CFM;
+ }
+ else
+ {
+ m_angCFM = value;
+ m_flags |= BT_CONETWIST_FLAGS_ANG_CFM;
+ }
+ break;
+ default:
+ btAssertConstrParams(0);
+ break;
+ }
+}
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
+///return the local value of parameter
+btScalar btConeTwistConstraint::getParam(int num, int axis) const
+{
+ btScalar retVal = 0;
+ switch(num)
+ {
+ case BT_CONSTRAINT_ERP :
+ case BT_CONSTRAINT_STOP_ERP :
+ if((axis >= 0) && (axis < 3))
+ {
+ btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_ERP);
+ retVal = m_linERP;
+ }
+ else if((axis >= 3) && (axis < 6))
+ {
+ retVal = m_biasFactor;
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+ break;
+ case BT_CONSTRAINT_CFM :
+ case BT_CONSTRAINT_STOP_CFM :
+ if((axis >= 0) && (axis < 3))
+ {
+ btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_CFM);
+ retVal = m_linCFM;
+ }
+ else if((axis >= 3) && (axis < 6))
+ {
+ btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_ANG_CFM);
+ retVal = m_angCFM;
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+ break;
+ default :
+ btAssertConstrParams(0);
+ }
+ return retVal;
+}
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -17,6 +17,22 @@
+/*
+Overview:
+
+btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
+It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
+It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
+Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
+(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
+
+In the contraint's frame of reference:
+twist is along the x-axis,
+and swing 1 and 2 are along the z and y axes respectively.
+*/
+
+
+
#ifndef CONETWISTCONSTRAINT_H
#define CONETWISTCONSTRAINT_H
@@ -26,6 +42,12 @@
class btRigidBody;
+enum btConeTwistFlags
+{
+ BT_CONETWIST_FLAGS_LIN_CFM = 1,
+ BT_CONETWIST_FLAGS_LIN_ERP = 2,
+ BT_CONETWIST_FLAGS_ANG_CFM = 4
+};
///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
class btConeTwistConstraint : public btTypedConstraint
@@ -83,22 +105,42 @@
btScalar m_maxMotorImpulse;
btVector3 m_accMotorImpulse;
+ // parameters
+ int m_flags;
+ btScalar m_linCFM;
+ btScalar m_linERP;
+ btScalar m_angCFM;
+
+protected:
+
+ void init();
+
+ void computeConeLimitInfo(const btQuaternion& qCone, // in
+ btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+
+ void computeTwistLimitInfo(const btQuaternion& qTwist, // in
+ btScalar& twistAngle, btVector3& vTwistAxis); // all outs
+
+ void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
+
+
public:
btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
- btConeTwistConstraint();
-
virtual void buildJacobian();
virtual void getInfo1 (btConstraintInfo1* info);
+
+ void getInfo1NonVirtual(btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
+ void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
- virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
+ virtual void solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar timeStep);
void updateRHS(btScalar timeStep);
@@ -141,7 +183,18 @@
};
}
- void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+ // setLimit(), a few notes:
+ // _softness:
+ // 0->1, recommend ~0.8->1.
+ // describes % of limits where movement is free.
+ // beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
+ // _biasFactor:
+ // 0->1?, recommend 0.3 +/-0.3 or so.
+ // strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
+ // __relaxationFactor:
+ // 0->1, recommend to stay near 1.
+ // the lower the value, the less the constraint will fight velocities which violate the angular limits.
+ void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
{
m_swingSpan1 = _swingSpan1;
m_swingSpan2 = _swingSpan2;
@@ -171,7 +224,7 @@
}
void calcAngleInfo();
- void calcAngleInfo2();
+ void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
inline btScalar getSwingSpan1()
{
@@ -212,18 +265,68 @@
btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+ ///If no axis is provided, it uses the default axis for this constraint.
+ virtual void setParam(int num, btScalar value, int axis = -1);
+ ///return the local value of parameter
+ virtual btScalar getParam(int num, int axis = -1) const;
+ virtual int calculateSerializeBufferSize() const;
-protected:
- void init();
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
- void computeConeLimitInfo(const btQuaternion& qCone, // in
- btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+};
- void computeTwistLimitInfo(const btQuaternion& qTwist, // in
- btScalar& twistAngle, btVector3& vTwistAxis); // all outs
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btConeTwistConstraintData
+{
+ btTypedConstraintData m_typeConstraintData;
+ btTransformFloatData m_rbAFrame;
+ btTransformFloatData m_rbBFrame;
- void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
+ //limits
+ float m_swingSpan1;
+ float m_swingSpan2;
+ float m_twistSpan;
+ float m_limitSoftness;
+ float m_biasFactor;
+ float m_relaxationFactor;
+
+ float m_damping;
+
+ char m_pad[4];
+
};
+
+
+SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const
+{
+ return sizeof(btConeTwistConstraintData);
+
+}
+
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
+ btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
+
+ m_rbAFrame.serializeFloat(cone->m_rbAFrame);
+ m_rbBFrame.serializeFloat(cone->m_rbBFrame);
+
+ cone->m_swingSpan1 = float(m_swingSpan1);
+ cone->m_swingSpan2 = float(m_swingSpan2);
+ cone->m_twistSpan = float(m_twistSpan);
+ cone->m_limitSoftness = float(m_limitSoftness);
+ cone->m_biasFactor = float(m_biasFactor);
+ cone->m_relaxationFactor = float(m_relaxationFactor);
+ cone->m_damping = float(m_damping);
+
+ return "btConeTwistConstraintData";
+}
+
+
#endif //CONETWISTCONSTRAINT_H
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -22,6 +22,52 @@
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+
+
+btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
+:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
+ m_contactManifold(*contactManifold)
+{
+
+}
+
+btContactConstraint::~btContactConstraint()
+{
+
+}
+
+void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
+{
+ m_contactManifold = *contactManifold;
+}
+
+void btContactConstraint::getInfo1 (btConstraintInfo1* info)
+{
+
+}
+
+void btContactConstraint::getInfo2 (btConstraintInfo2* info)
+{
+
+}
+
+void btContactConstraint::buildJacobian()
+{
+
+}
+
+
+
+
+
+#include "btContactConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btContactSolverInfo.h"
+#include "LinearMath/btMinMax.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
+
#define ASSERT2 btAssert
#define USE_INTERNAL_APPLY_IMPULSE 1
@@ -85,345 +131,4 @@
-//response between two dynamic objects with friction
-btScalar resolveSingleCollision(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo)
-{
- const btVector3& pos1_ = contactPoint.getPositionWorldOnA();
- const btVector3& pos2_ = contactPoint.getPositionWorldOnB();
- const btVector3& normal = contactPoint.m_normalWorldOnB;
-
- //constant over all iterations
- btVector3 rel_pos1 = pos1_ - body1.getCenterOfMassPosition();
- btVector3 rel_pos2 = pos2_ - body2.getCenterOfMassPosition();
-
- btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
- btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
- btVector3 vel = vel1 - vel2;
- btScalar rel_vel;
- rel_vel = normal.dot(vel);
-
- btScalar Kfps = btScalar(1.) / solverInfo.m_timeStep ;
-
- // btScalar damping = solverInfo.m_damping ;
- btScalar Kerp = solverInfo.m_erp;
- btScalar Kcor = Kerp *Kfps;
-
- btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
- btAssert(cpd);
- btScalar distance = cpd->m_penetration;
- btScalar positionalError = Kcor *-distance;
- btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
-
- btScalar penetrationImpulse = positionalError * cpd->m_jacDiagABInv;
-
- btScalar velocityImpulse = velocityError * cpd->m_jacDiagABInv;
-
- btScalar normalImpulse = penetrationImpulse+velocityImpulse;
-
- // See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
- btScalar oldNormalImpulse = cpd->m_appliedImpulse;
- btScalar sum = oldNormalImpulse + normalImpulse;
- cpd->m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
-
- normalImpulse = cpd->m_appliedImpulse - oldNormalImpulse;
-
-#ifdef USE_INTERNAL_APPLY_IMPULSE
- if (body1.getInvMass())
- {
- body1.internalApplyImpulse(contactPoint.m_normalWorldOnB*body1.getInvMass(),cpd->m_angularComponentA,normalImpulse);
- }
- if (body2.getInvMass())
- {
- body2.internalApplyImpulse(contactPoint.m_normalWorldOnB*body2.getInvMass(),cpd->m_angularComponentB,-normalImpulse);
- }
-#else //USE_INTERNAL_APPLY_IMPULSE
- body1.applyImpulse(normal*(normalImpulse), rel_pos1);
- body2.applyImpulse(-normal*(normalImpulse), rel_pos2);
-#endif //USE_INTERNAL_APPLY_IMPULSE
-
- return normalImpulse;
-}
-
-
-btScalar resolveSingleFriction(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo)
-{
-
- (void)solverInfo;
-
- const btVector3& pos1 = contactPoint.getPositionWorldOnA();
- const btVector3& pos2 = contactPoint.getPositionWorldOnB();
-
- btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
- btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-
- btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
- btAssert(cpd);
-
- btScalar combinedFriction = cpd->m_friction;
-
- btScalar limit = cpd->m_appliedImpulse * combinedFriction;
-
- if (cpd->m_appliedImpulse>btScalar(0.))
- //friction
- {
- //apply friction in the 2 tangential directions
-
- // 1st tangent
- btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
- btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
- btVector3 vel = vel1 - vel2;
-
- btScalar j1,j2;
-
- {
-
- btScalar vrel = cpd->m_frictionWorldTangential0.dot(vel);
-
- // calculate j that moves us to zero relative velocity
- j1 = -vrel * cpd->m_jacDiagABInvTangent0;
- btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0;
- cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1;
- btSetMin(cpd->m_accumulatedTangentImpulse0, limit);
- btSetMax(cpd->m_accumulatedTangentImpulse0, -limit);
- j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse;
-
- }
- {
- // 2nd tangent
-
- btScalar vrel = cpd->m_frictionWorldTangential1.dot(vel);
-
- // calculate j that moves us to zero relative velocity
- j2 = -vrel * cpd->m_jacDiagABInvTangent1;
- btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1;
- cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2;
- btSetMin(cpd->m_accumulatedTangentImpulse1, limit);
- btSetMax(cpd->m_accumulatedTangentImpulse1, -limit);
- j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse;
- }
-
-#ifdef USE_INTERNAL_APPLY_IMPULSE
- if (body1.getInvMass())
- {
- body1.internalApplyImpulse(cpd->m_frictionWorldTangential0*body1.getInvMass(),cpd->m_frictionAngularComponent0A,j1);
- body1.internalApplyImpulse(cpd->m_frictionWorldTangential1*body1.getInvMass(),cpd->m_frictionAngularComponent1A,j2);
- }
- if (body2.getInvMass())
- {
- body2.internalApplyImpulse(cpd->m_frictionWorldTangential0*body2.getInvMass(),cpd->m_frictionAngularComponent0B,-j1);
- body2.internalApplyImpulse(cpd->m_frictionWorldTangential1*body2.getInvMass(),cpd->m_frictionAngularComponent1B,-j2);
- }
-#else //USE_INTERNAL_APPLY_IMPULSE
- body1.applyImpulse((j1 * cpd->m_frictionWorldTangential0)+(j2 * cpd->m_frictionWorldTangential1), rel_pos1);
- body2.applyImpulse((j1 * -cpd->m_frictionWorldTangential0)+(j2 * -cpd->m_frictionWorldTangential1), rel_pos2);
-#endif //USE_INTERNAL_APPLY_IMPULSE
-
-
- }
- return cpd->m_appliedImpulse;
-}
-
-
-btScalar resolveSingleFrictionOriginal(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo);
-
-btScalar resolveSingleFrictionOriginal(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo)
-{
-
- (void)solverInfo;
-
- const btVector3& pos1 = contactPoint.getPositionWorldOnA();
- const btVector3& pos2 = contactPoint.getPositionWorldOnB();
-
- btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
- btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-
- btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
- btAssert(cpd);
-
- btScalar combinedFriction = cpd->m_friction;
-
- btScalar limit = cpd->m_appliedImpulse * combinedFriction;
- //if (contactPoint.m_appliedImpulse>btScalar(0.))
- //friction
- {
- //apply friction in the 2 tangential directions
-
- {
- // 1st tangent
- btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
- btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
- btVector3 vel = vel1 - vel2;
-
- btScalar vrel = cpd->m_frictionWorldTangential0.dot(vel);
-
- // calculate j that moves us to zero relative velocity
- btScalar j = -vrel * cpd->m_jacDiagABInvTangent0;
- btScalar total = cpd->m_accumulatedTangentImpulse0 + j;
- btSetMin(total, limit);
- btSetMax(total, -limit);
- j = total - cpd->m_accumulatedTangentImpulse0;
- cpd->m_accumulatedTangentImpulse0 = total;
- body1.applyImpulse(j * cpd->m_frictionWorldTangential0, rel_pos1);
- body2.applyImpulse(j * -cpd->m_frictionWorldTangential0, rel_pos2);
- }
-
-
- {
- // 2nd tangent
- btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
- btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
- btVector3 vel = vel1 - vel2;
-
- btScalar vrel = cpd->m_frictionWorldTangential1.dot(vel);
-
- // calculate j that moves us to zero relative velocity
- btScalar j = -vrel * cpd->m_jacDiagABInvTangent1;
- btScalar total = cpd->m_accumulatedTangentImpulse1 + j;
- btSetMin(total, limit);
- btSetMax(total, -limit);
- j = total - cpd->m_accumulatedTangentImpulse1;
- cpd->m_accumulatedTangentImpulse1 = total;
- body1.applyImpulse(j * cpd->m_frictionWorldTangential1, rel_pos1);
- body2.applyImpulse(j * -cpd->m_frictionWorldTangential1, rel_pos2);
- }
- }
- return cpd->m_appliedImpulse;
-}
-
-
-//velocity + friction
-//response between two dynamic objects with friction
-btScalar resolveSingleCollisionCombined(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo)
-{
-
- const btVector3& pos1 = contactPoint.getPositionWorldOnA();
- const btVector3& pos2 = contactPoint.getPositionWorldOnB();
- const btVector3& normal = contactPoint.m_normalWorldOnB;
-
- btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
- btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
-
- btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
- btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
- btVector3 vel = vel1 - vel2;
- btScalar rel_vel;
- rel_vel = normal.dot(vel);
-
- btScalar Kfps = btScalar(1.) / solverInfo.m_timeStep ;
-
- //btScalar damping = solverInfo.m_damping ;
- btScalar Kerp = solverInfo.m_erp;
- btScalar Kcor = Kerp *Kfps;
-
- btConstraintPersistentData* cpd = (btConstraintPersistentData*) contactPoint.m_userPersistentData;
- btAssert(cpd);
- btScalar distance = cpd->m_penetration;
- btScalar positionalError = Kcor *-distance;
- btScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
-
- btScalar penetrationImpulse = positionalError * cpd->m_jacDiagABInv;
-
- btScalar velocityImpulse = velocityError * cpd->m_jacDiagABInv;
-
- btScalar normalImpulse = penetrationImpulse+velocityImpulse;
-
- // See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse
- btScalar oldNormalImpulse = cpd->m_appliedImpulse;
- btScalar sum = oldNormalImpulse + normalImpulse;
- cpd->m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum;
-
- normalImpulse = cpd->m_appliedImpulse - oldNormalImpulse;
-
-
-#ifdef USE_INTERNAL_APPLY_IMPULSE
- if (body1.getInvMass())
- {
- body1.internalApplyImpulse(contactPoint.m_normalWorldOnB*body1.getInvMass(),cpd->m_angularComponentA,normalImpulse);
- }
- if (body2.getInvMass())
- {
- body2.internalApplyImpulse(contactPoint.m_normalWorldOnB*body2.getInvMass(),cpd->m_angularComponentB,-normalImpulse);
- }
-#else //USE_INTERNAL_APPLY_IMPULSE
- body1.applyImpulse(normal*(normalImpulse), rel_pos1);
- body2.applyImpulse(-normal*(normalImpulse), rel_pos2);
-#endif //USE_INTERNAL_APPLY_IMPULSE
-
- {
- //friction
- btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
- btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
- btVector3 vel = vel1 - vel2;
-
- rel_vel = normal.dot(vel);
-
-
- btVector3 lat_vel = vel - normal * rel_vel;
- btScalar lat_rel_vel = lat_vel.length();
-
- btScalar combinedFriction = cpd->m_friction;
-
- if (cpd->m_appliedImpulse > 0)
- if (lat_rel_vel > SIMD_EPSILON)
- {
- lat_vel /= lat_rel_vel;
- btVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(lat_vel);
- btVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(lat_vel);
- btScalar friction_impulse = lat_rel_vel /
- (body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
- btScalar normal_impulse = cpd->m_appliedImpulse * combinedFriction;
-
- btSetMin(friction_impulse, normal_impulse);
- btSetMax(friction_impulse, -normal_impulse);
- body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);
- body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
- }
- }
-
-
-
- return normalImpulse;
-}
-
-btScalar resolveSingleFrictionEmpty(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo);
-
-btScalar resolveSingleFrictionEmpty(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo)
-{
- (void)contactPoint;
- (void)body1;
- (void)body2;
- (void)solverInfo;
-
-
- return btScalar(0.);
-}
-
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -16,107 +16,53 @@
#ifndef CONTACT_CONSTRAINT_H
#define CONTACT_CONSTRAINT_H
-///@todo: make into a proper class working with the iterative constraint solver
-
-class btRigidBody;
#include "LinearMath/btVector3.h"
-#include "LinearMath/btScalar.h"
-struct btContactSolverInfo;
-class btManifoldPoint;
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-enum {
- DEFAULT_CONTACT_SOLVER_TYPE=0,
- CONTACT_SOLVER_TYPE1,
- CONTACT_SOLVER_TYPE2,
- USER_CONTACT_SOLVER_TYPE1,
- MAX_CONTACT_SOLVER_TYPES
-};
+///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
+ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
+{
+protected:
+ btPersistentManifold m_contactManifold;
-typedef btScalar (*ContactSolverFunc)(btRigidBody& body1,
- btRigidBody& body2,
- class btManifoldPoint& contactPoint,
- const btContactSolverInfo& info);
+public:
-///stores some extra information to each contact point. It is not in the contact point, because that want to keep the collision detection independent from the constraint solver.
-struct btConstraintPersistentData
-{
- inline btConstraintPersistentData()
- :m_appliedImpulse(btScalar(0.)),
- m_prevAppliedImpulse(btScalar(0.)),
- m_accumulatedTangentImpulse0(btScalar(0.)),
- m_accumulatedTangentImpulse1(btScalar(0.)),
- m_jacDiagABInv(btScalar(0.)),
- m_persistentLifeTime(0),
- m_restitution(btScalar(0.)),
- m_friction(btScalar(0.)),
- m_penetration(btScalar(0.)),
- m_contactSolverFunc(0),
- m_frictionSolverFunc(0)
+
+ btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
+
+ void setContactManifold(btPersistentManifold* contactManifold);
+
+ btPersistentManifold* getContactManifold()
{
+ return &m_contactManifold;
}
-
-
- /// total applied impulse during most recent frame
- btScalar m_appliedImpulse;
- btScalar m_prevAppliedImpulse;
- btScalar m_accumulatedTangentImpulse0;
- btScalar m_accumulatedTangentImpulse1;
-
- btScalar m_jacDiagABInv;
- btScalar m_jacDiagABInvTangent0;
- btScalar m_jacDiagABInvTangent1;
- int m_persistentLifeTime;
- btScalar m_restitution;
- btScalar m_friction;
- btScalar m_penetration;
- btVector3 m_frictionWorldTangential0;
- btVector3 m_frictionWorldTangential1;
- btVector3 m_frictionAngularComponent0A;
- btVector3 m_frictionAngularComponent0B;
- btVector3 m_frictionAngularComponent1A;
- btVector3 m_frictionAngularComponent1B;
+ const btPersistentManifold* getContactManifold() const
+ {
+ return &m_contactManifold;
+ }
- //some data doesn't need to be persistent over frames: todo: clean/reuse this
- btVector3 m_angularComponentA;
- btVector3 m_angularComponentB;
-
- ContactSolverFunc m_contactSolverFunc;
- ContactSolverFunc m_frictionSolverFunc;
+ virtual ~btContactConstraint();
-};
+ virtual void getInfo1 (btConstraintInfo1* info);
-///bilateral constraint between two dynamic objects
-///positive distance = separation, negative distance = penetration
-void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
- btRigidBody& body2, const btVector3& pos2,
- btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
+ virtual void getInfo2 (btConstraintInfo2* info);
+ ///obsolete methods
+ virtual void buildJacobian();
-///contact constraint resolution:
-///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
-///positive distance = separation, negative distance = penetration
-btScalar resolveSingleCollision(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& info);
-btScalar resolveSingleFriction(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo
- );
+};
+///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
+void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
+ btRigidBody& body2, const btVector3& pos2,
+ btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
-btScalar resolveSingleCollisionCombined(
- btRigidBody& body1,
- btRigidBody& body2,
- btManifoldPoint& contactPoint,
- const btContactSolverInfo& solverInfo
- );
+
#endif //CONTACT_CONSTRAINT_H
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -35,7 +35,7 @@
btScalar m_tau;
- btScalar m_damping;
+ btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
btScalar m_friction;
btScalar m_timeStep;
btScalar m_restitution;
@@ -52,6 +52,7 @@
int m_solverMode;
int m_restingContactRestitutionThreshold;
+ int m_minimumSolverBatchSize;
};
@@ -77,8 +78,9 @@
m_splitImpulsePenetrationThreshold = -0.02f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
- m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD ;//SOLVER_RANDMIZE_ORDER
+ m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
+ m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
}
};
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -22,37 +22,53 @@
#include "btGeneric6DofConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
+#include "LinearMath/btTransformUtil.h"
#include <new>
+
#define D6_USE_OBSOLETE_METHOD false
-//-----------------------------------------------------------------------------
+#define D6_USE_FRAME_OFFSET true
-btGeneric6DofConstraint::btGeneric6DofConstraint()
-:btTypedConstraint(D6_CONSTRAINT_TYPE),
-m_useLinearReferenceFrameA(true),
-m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
-{
-}
-//-----------------------------------------------------------------------------
+
+
+
btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
, m_frameInA(frameInA)
, m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA),
+m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
+m_flags(0),
m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD)
{
+ calculateTransforms();
+}
+
+
+btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
+ : btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB),
+ m_frameInB(frameInB),
+ m_useLinearReferenceFrameA(useLinearReferenceFrameB),
+ m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET),
+ m_flags(0),
+ m_useSolveConstraintObsolete(false)
+{
+ ///not providing rigidbody A means implicitly using worldspace for body A
+ m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
+ calculateTransforms();
}
-//-----------------------------------------------------------------------------
+
+
#define GENERIC_D6_DISABLE_WARMSTARTING 1
-//-----------------------------------------------------------------------------
+
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
btScalar btGetMatrixElem(const btMatrix3x3& mat, int index)
{
@@ -61,8 +77,8 @@
return mat[i][j];
}
-//-----------------------------------------------------------------------------
+
///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html
bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz)
@@ -110,7 +126,6 @@
m_currentLimit = 0;//Free from violation
return 0;
}
-
if (test_value < m_loLimit)
{
m_currentLimit = 1;//low limit violation
@@ -129,11 +144,11 @@
}
-//-----------------------------------------------------------------------------
+
btScalar btRotationalLimitMotor::solveAngularLimits(
btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
- btRigidBody * body0, btSolverBody& bodyA, btRigidBody * body1, btSolverBody& bodyB)
+ btRigidBody * body0, btRigidBody * body1 )
{
if (needApplyTorques()==false) return 0.0f;
@@ -143,7 +158,7 @@
//current error correction
if (m_currentLimit!=0)
{
- target_velocity = -m_ERP*m_currentLimitError/(timeStep);
+ target_velocity = -m_stopERP*m_currentLimitError/(timeStep);
maxMotorForce = m_maxLimitForce;
}
@@ -152,9 +167,9 @@
// current velocity difference
btVector3 angVelA;
- bodyA.getAngularVelocity(angVelA);
+ body0->internalGetAngularVelocity(angVelA);
btVector3 angVelB;
- bodyB.getAngularVelocity(angVelB);
+ body1->internalGetAngularVelocity(angVelB);
btVector3 vel_diff;
vel_diff = angVelA-angVelB;
@@ -191,8 +206,8 @@
// sort with accumulated impulses
- btScalar lo = btScalar(-1e30);
- btScalar hi = btScalar(1e30);
+ btScalar lo = btScalar(-BT_LARGE_FLOAT);
+ btScalar hi = btScalar(BT_LARGE_FLOAT);
btScalar oldaccumImpulse = m_accumulatedImpulse;
btScalar sum = oldaccumImpulse + clippedMotorImpulse;
@@ -205,8 +220,8 @@
//body0->applyTorqueImpulse(motorImp);
//body1->applyTorqueImpulse(-motorImp);
- bodyA.applyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
- bodyB.applyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
+ body0->internalApplyImpulse(btVector3(0,0,0), body0->getInvInertiaTensorWorld()*axis,clippedMotorImpulse);
+ body1->internalApplyImpulse(btVector3(0,0,0), body1->getInvInertiaTensorWorld()*axis,-clippedMotorImpulse);
return clippedMotorImpulse;
@@ -249,15 +264,15 @@
m_currentLimit[limitIndex] = 0;//Free from violation
m_currentLimitError[limitIndex] = btScalar(0.f);
return 0;
-} // btTranslationalLimitMotor::testLimitValue()
+}
-//-----------------------------------------------------------------------------
+
btScalar btTranslationalLimitMotor::solveLinearAxis(
btScalar timeStep,
btScalar jacDiagABInv,
- btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
- btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
+ btRigidBody& body1,const btVector3 &pointInA,
+ btRigidBody& body2,const btVector3 &pointInB,
int limit_index,
const btVector3 & axis_normal_on_a,
const btVector3 & anchorPos)
@@ -270,9 +285,9 @@
btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition();
btVector3 vel1;
- bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
+ body1.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1);
btVector3 vel2;
- bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
+ body2.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2);
btVector3 vel = vel1 - vel2;
btScalar rel_vel = axis_normal_on_a.dot(vel);
@@ -283,8 +298,8 @@
//positional error (zeroth order error)
btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a);
- btScalar lo = btScalar(-1e30);
- btScalar hi = btScalar(1e30);
+ btScalar lo = btScalar(-BT_LARGE_FLOAT);
+ btScalar hi = btScalar(BT_LARGE_FLOAT);
btScalar minLimit = m_lowerLimit[limit_index];
btScalar maxLimit = m_upperLimit[limit_index];
@@ -330,8 +345,8 @@
btVector3 ftorqueAxis1 = rel_pos1.cross(axis_normal_on_a);
btVector3 ftorqueAxis2 = rel_pos2.cross(axis_normal_on_a);
- bodyA.applyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
- bodyB.applyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
+ body1.internalApplyImpulse(axis_normal_on_a*body1.getInvMass(), body1.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
+ body2.internalApplyImpulse(axis_normal_on_a*body2.getInvMass(), body2.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
@@ -372,18 +387,37 @@
}
-//-----------------------------------------------------------------------------
-
void btGeneric6DofConstraint::calculateTransforms()
{
- m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
- m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
+ calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+}
+
+void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
+{
+ m_calculatedTransformA = transA * m_frameInA;
+ m_calculatedTransformB = transB * m_frameInB;
calculateLinearInfo();
calculateAngleInfo();
+ if(m_useOffsetForConstraintFrame)
+ { // get weight factors depending on masses
+ btScalar miA = getRigidBodyA().getInvMass();
+ btScalar miB = getRigidBodyB().getInvMass();
+ m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
+ btScalar miS = miA + miB;
+ if(miS > btScalar(0.f))
+ {
+ m_factA = miB / miS;
+ }
+ else
+ {
+ m_factA = btScalar(0.5f);
+ }
+ m_factB = btScalar(1.0f) - m_factA;
+ }
}
-//-----------------------------------------------------------------------------
+
void btGeneric6DofConstraint::buildLinearJacobian(
btJacobianEntry & jacLinear,const btVector3 & normalWorld,
const btVector3 & pivotAInW,const btVector3 & pivotBInW)
@@ -400,8 +434,8 @@
m_rbB.getInvMass());
}
-//-----------------------------------------------------------------------------
+
void btGeneric6DofConstraint::buildAngularJacobian(
btJacobianEntry & jacAngular,const btVector3 & jointAxisW)
{
@@ -413,20 +447,23 @@
}
-//-----------------------------------------------------------------------------
+
bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
{
btScalar angle = m_calculatedAxisAngleDiff[axis_index];
+ angle = btAdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit);
+ m_angularLimits[axis_index].m_currentPosition = angle;
//test limits
m_angularLimits[axis_index].testLimitValue(angle);
return m_angularLimits[axis_index].needApplyTorques();
}
-//-----------------------------------------------------------------------------
+
void btGeneric6DofConstraint::buildJacobian()
{
+#ifndef __SPU__
if (m_useSolveConstraintObsolete)
{
@@ -438,7 +475,7 @@
m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
}
//calculates transform
- calculateTransforms();
+ calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
// const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
// const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
@@ -481,9 +518,10 @@
}
}
+#endif //__SPU__
+
}
-//-----------------------------------------------------------------------------
void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
{
@@ -494,7 +532,7 @@
} else
{
//prepare constraint
- calculateTransforms();
+ calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
info->m_numConstraintRows = 0;
info->nub = 6;
int i;
@@ -519,21 +557,76 @@
}
}
-//-----------------------------------------------------------------------------
+void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+{
+ if (m_useSolveConstraintObsolete)
+ {
+ info->m_numConstraintRows = 0;
+ info->nub = 0;
+ } else
+ {
+ //pre-allocate all 6
+ info->m_numConstraintRows = 6;
+ info->nub = 0;
+ }
+}
+
void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
{
btAssert(!m_useSolveConstraintObsolete);
- int row = setLinearLimits(info);
- setAngularLimits(info, row);
+
+ const btTransform& transA = m_rbA.getCenterOfMassTransform();
+ const btTransform& transB = m_rbB.getCenterOfMassTransform();
+ const btVector3& linVelA = m_rbA.getLinearVelocity();
+ const btVector3& linVelB = m_rbB.getLinearVelocity();
+ const btVector3& angVelA = m_rbA.getAngularVelocity();
+ const btVector3& angVelB = m_rbB.getAngularVelocity();
+
+ if(m_useOffsetForConstraintFrame)
+ { // for stability better to solve angular limits first
+ int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
+ setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+ }
+ else
+ { // leave old version for compatibility
+ int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
+ setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+ }
+
}
-//-----------------------------------------------------------------------------
-int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
+void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
{
- btGeneric6DofConstraint * d6constraint = this;
- int row = 0;
+
+ btAssert(!m_useSolveConstraintObsolete);
+ //prepare constraint
+ calculateTransforms(transA,transB);
+
+ int i;
+ for (i=0;i<3 ;i++ )
+ {
+ testAngularLimitMotor(i);
+ }
+
+ if(m_useOffsetForConstraintFrame)
+ { // for stability better to solve angular limits first
+ int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB);
+ setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB);
+ }
+ else
+ { // leave old version for compatibility
+ int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB);
+ setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
+ }
+}
+
+
+
+int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
+{
+// int row = 0;
//solve linear limits
btRotationalLimitMotor limot;
for (int i=0;i<3 ;i++ )
@@ -542,10 +635,10 @@
{ // re-use rotational motor code
limot.m_bounce = btScalar(0.f);
limot.m_currentLimit = m_linearLimits.m_currentLimit[i];
+ limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i];
limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i];
limot.m_damping = m_linearLimits.m_damping;
limot.m_enableMotor = m_linearLimits.m_enableMotor[i];
- limot.m_ERP = m_linearLimits.m_restitution;
limot.m_hiLimit = m_linearLimits.m_upperLimit[i];
limot.m_limitSoftness = m_linearLimits.m_limitSoftness;
limot.m_loLimit = m_linearLimits.m_lowerLimit[i];
@@ -553,15 +646,33 @@
limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
- row += get_limit_motor_info2(&limot, &m_rbA, &m_rbB, info, row, axis, 0);
+ int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT);
+ limot.m_normalCFM = (flags & BT_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0];
+ limot.m_stopCFM = (flags & BT_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0];
+ limot.m_stopERP = (flags & BT_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp;
+ if(m_useOffsetForConstraintFrame)
+ {
+ int indx1 = (i + 1) % 3;
+ int indx2 = (i + 2) % 3;
+ int rotAllowed = 1; // rotations around orthos to current axis
+ if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit)
+ {
+ rotAllowed = 0;
+ }
+ row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed);
+ }
+ else
+ {
+ row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0);
+ }
}
}
return row;
}
-//-----------------------------------------------------------------------------
-int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset)
+
+int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
{
btGeneric6DofConstraint * d6constraint = this;
int row = row_offset;
@@ -571,102 +682,57 @@
if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques())
{
btVector3 axis = d6constraint->getAxis(i);
- row += get_limit_motor_info2(
- d6constraint->getRotationalLimitMotor(i),
- &m_rbA,
- &m_rbB,
- info,row,axis,1);
+ int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT);
+ if(!(flags & BT_6DOF_FLAGS_CFM_NORM))
+ {
+ m_angularLimits[i].m_normalCFM = info->cfm[0];
+ }
+ if(!(flags & BT_6DOF_FLAGS_CFM_STOP))
+ {
+ m_angularLimits[i].m_stopCFM = info->cfm[0];
+ }
+ if(!(flags & BT_6DOF_FLAGS_ERP_STOP))
+ {
+ m_angularLimits[i].m_stopERP = info->erp;
+ }
+ row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i),
+ transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1);
}
}
return row;
}
-//-----------------------------------------------------------------------------
-void btGeneric6DofConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
-{
- if (m_useSolveConstraintObsolete)
- {
- m_timeStep = timeStep;
-
- //calculateTransforms();
-
- int i;
-
- // linear
-
- btVector3 pointInA = m_calculatedTransformA.getOrigin();
- btVector3 pointInB = m_calculatedTransformB.getOrigin();
-
- btScalar jacDiagABInv;
- btVector3 linear_axis;
- for (i=0;i<3;i++)
- {
- if (m_linearLimits.isLimited(i))
- {
- jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal();
-
- if (m_useLinearReferenceFrameA)
- linear_axis = m_calculatedTransformA.getBasis().getColumn(i);
- else
- linear_axis = m_calculatedTransformB.getBasis().getColumn(i);
-
- m_linearLimits.solveLinearAxis(
- m_timeStep,
- jacDiagABInv,
- m_rbA,bodyA,pointInA,
- m_rbB,bodyB,pointInB,
- i,linear_axis, m_AnchorPos);
-
- }
- }
-
- // angular
- btVector3 angular_axis;
- btScalar angularJacDiagABInv;
- for (i=0;i<3;i++)
- {
- if (m_angularLimits[i].needApplyTorques())
- {
-
- // get axis
- angular_axis = getAxis(i);
-
- angularJacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal();
-
- m_angularLimits[i].solveAngularLimits(m_timeStep,angular_axis,angularJacDiagABInv, &m_rbA,bodyA,&m_rbB,bodyB);
- }
- }
- }
-}
-
-//-----------------------------------------------------------------------------
-
void btGeneric6DofConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
}
-//-----------------------------------------------------------------------------
+
btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const
{
return m_calculatedAxis[axis_index];
}
-//-----------------------------------------------------------------------------
-btScalar btGeneric6DofConstraint::getAngle(int axis_index) const
+btScalar btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const
{
- return m_calculatedAxisAngleDiff[axis_index];
+ return m_calculatedLinearDiff[axisIndex];
}
-//-----------------------------------------------------------------------------
+btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const
+{
+ return m_calculatedAxisAngleDiff[axisIndex];
+}
+
+
+
void btGeneric6DofConstraint::calcAnchorPos(void)
{
btScalar imA = m_rbA.getInvMass();
@@ -684,26 +750,27 @@
const btVector3& pB = m_calculatedTransformB.getOrigin();
m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight);
return;
-} // btGeneric6DofConstraint::calcAnchorPos()
+}
-//-----------------------------------------------------------------------------
+
void btGeneric6DofConstraint::calculateLinearInfo()
{
m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin();
m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff;
for(int i = 0; i < 3; i++)
{
+ m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i];
m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]);
}
-} // btGeneric6DofConstraint::calculateLinearInfo()
+}
-//-----------------------------------------------------------------------------
+
int btGeneric6DofConstraint::get_limit_motor_info2(
btRotationalLimitMotor * limot,
- btRigidBody * body0, btRigidBody * body1,
- btConstraintInfo2 *info, int row, btVector3& ax1, int rotational)
+ const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
+ btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed)
{
int srow = row * info->rowskip;
int powered = limot->m_enableMotor;
@@ -721,20 +788,53 @@
J2[srow+1] = -ax1[1];
J2[srow+2] = -ax1[2];
}
- if((!rotational) && limit)
+ if((!rotational))
{
- btVector3 ltd; // Linear Torque Decoupling vector
- btVector3 c = m_calculatedTransformB.getOrigin() - body0->getCenterOfMassPosition();
- ltd = c.cross(ax1);
- info->m_J1angularAxis[srow+0] = ltd[0];
- info->m_J1angularAxis[srow+1] = ltd[1];
- info->m_J1angularAxis[srow+2] = ltd[2];
+ if (m_useOffsetForConstraintFrame)
+ {
+ btVector3 tmpA, tmpB, relA, relB;
+ // get vector from bodyB to frameB in WCS
+ relB = m_calculatedTransformB.getOrigin() - transB.getOrigin();
+ // get its projection to constraint axis
+ btVector3 projB = ax1 * relB.dot(ax1);
+ // get vector directed from bodyB to constraint axis (and orthogonal to it)
+ btVector3 orthoB = relB - projB;
+ // same for bodyA
+ relA = m_calculatedTransformA.getOrigin() - transA.getOrigin();
+ btVector3 projA = ax1 * relA.dot(ax1);
+ btVector3 orthoA = relA - projA;
+ // get desired offset between frames A and B along constraint axis
+ btScalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError;
+ // desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis
+ btVector3 totalDist = projA + ax1 * desiredOffs - projB;
+ // get offset vectors relA and relB
+ relA = orthoA + totalDist * m_factA;
+ relB = orthoB - totalDist * m_factB;
+ tmpA = relA.cross(ax1);
+ tmpB = relB.cross(ax1);
+ if(m_hasStaticBody && (!rotAllowed))
+ {
+ tmpA *= m_factA;
+ tmpB *= m_factB;
+ }
+ int i;
+ for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i];
+ } else
+ {
+ btVector3 ltd; // Linear Torque Decoupling vector
+ btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
+ ltd = c.cross(ax1);
+ info->m_J1angularAxis[srow+0] = ltd[0];
+ info->m_J1angularAxis[srow+1] = ltd[1];
+ info->m_J1angularAxis[srow+2] = ltd[2];
- c = m_calculatedTransformB.getOrigin() - body1->getCenterOfMassPosition();
- ltd = -c.cross(ax1);
- info->m_J2angularAxis[srow+0] = ltd[0];
- info->m_J2angularAxis[srow+1] = ltd[1];
- info->m_J2angularAxis[srow+2] = ltd[2];
+ c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
+ ltd = -c.cross(ax1);
+ info->m_J2angularAxis[srow+0] = ltd[0];
+ info->m_J2angularAxis[srow+1] = ltd[1];
+ info->m_J2angularAxis[srow+2] = ltd[2];
+ }
}
// if we're limited low and high simultaneously, the joint motor is
// ineffective
@@ -742,17 +842,24 @@
info->m_constraintError[srow] = btScalar(0.f);
if (powered)
{
- info->cfm[srow] = 0.0f;
+ info->cfm[srow] = limot->m_normalCFM;
if(!limit)
{
- info->m_constraintError[srow] += limot->m_targetVelocity;
+ btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity;
+
+ btScalar mot_fact = getMotorFactor( limot->m_currentPosition,
+ limot->m_loLimit,
+ limot->m_hiLimit,
+ tag_vel,
+ info->fps * limot->m_stopERP);
+ info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
info->m_upperLimit[srow] = limot->m_maxMotorForce;
}
}
if(limit)
{
- btScalar k = info->fps * limot->m_ERP;
+ btScalar k = info->fps * limot->m_stopERP;
if(!rotational)
{
info->m_constraintError[srow] += k * limot->m_currentLimitError;
@@ -761,7 +868,7 @@
{
info->m_constraintError[srow] += -k * limot->m_currentLimitError;
}
- info->cfm[srow] = 0.0f;
+ info->cfm[srow] = limot->m_stopCFM;
if (limot->m_loLimit == limot->m_hiLimit)
{ // limited low and high simultaneously
info->m_lowerLimit[srow] = -SIMD_INFINITY;
@@ -786,15 +893,17 @@
btScalar vel;
if (rotational)
{
- vel = body0->getAngularVelocity().dot(ax1);
- if (body1)
- vel -= body1->getAngularVelocity().dot(ax1);
+ vel = angVelA.dot(ax1);
+//make sure that if no body -> angVelB == zero vec
+// if (body1)
+ vel -= angVelB.dot(ax1);
}
else
{
- vel = body0->getLinearVelocity().dot(ax1);
- if (body1)
- vel -= body1->getLinearVelocity().dot(ax1);
+ vel = linVelA.dot(ax1);
+//make sure that if no body -> angVelB == zero vec
+// if (body1)
+ vel -= linVelB.dot(ax1);
}
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
@@ -824,6 +933,108 @@
else return 0;
}
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
+
+
+
+
+
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+ ///If no axis is provided, it uses the default axis for this constraint.
+void btGeneric6DofConstraint::setParam(int num, btScalar value, int axis)
+{
+ if((axis >= 0) && (axis < 3))
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_STOP_ERP :
+ m_linearLimits.m_stopERP[axis] = value;
+ m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ m_linearLimits.m_stopCFM[axis] = value;
+ m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+ break;
+ case BT_CONSTRAINT_CFM :
+ m_linearLimits.m_normalCFM[axis] = value;
+ m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+ break;
+ default :
+ btAssertConstrParams(0);
+ }
+ }
+ else if((axis >=3) && (axis < 6))
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_STOP_ERP :
+ m_angularLimits[axis - 3].m_stopERP = value;
+ m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ m_angularLimits[axis - 3].m_stopCFM = value;
+ m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+ break;
+ case BT_CONSTRAINT_CFM :
+ m_angularLimits[axis - 3].m_normalCFM = value;
+ m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
+ break;
+ default :
+ btAssertConstrParams(0);
+ }
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+}
+
+ ///return the local value of parameter
+btScalar btGeneric6DofConstraint::getParam(int num, int axis) const
+{
+ btScalar retVal = 0;
+ if((axis >= 0) && (axis < 3))
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_STOP_ERP :
+ btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+ retVal = m_linearLimits.m_stopERP[axis];
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+ retVal = m_linearLimits.m_stopCFM[axis];
+ break;
+ case BT_CONSTRAINT_CFM :
+ btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+ retVal = m_linearLimits.m_normalCFM[axis];
+ break;
+ default :
+ btAssertConstrParams(0);
+ }
+ }
+ else if((axis >=3) && (axis < 6))
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_STOP_ERP :
+ btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+ retVal = m_angularLimits[axis - 3].m_stopERP;
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+ retVal = m_angularLimits[axis - 3].m_stopCFM;
+ break;
+ case BT_CONSTRAINT_CFM :
+ btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT)));
+ retVal = m_angularLimits[axis - 3].m_normalCFM;
+ break;
+ default :
+ btAssertConstrParams(0);
+ }
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+ return retVal;
+}
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -12,6 +12,10 @@
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.
*/
+
+/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
+/// Added support for generic constraint solver through getInfo1/getInfo2 methods
+
/*
2007-09-09
btGeneric6DofConstraint Refactored by Francisco Le?n
@@ -45,7 +49,9 @@
btScalar m_maxLimitForce;//!< max force on limit
btScalar m_damping;//!< Damping.
btScalar m_limitSoftness;//! Relaxation factor
- btScalar m_ERP;//!< Error tolerance factor when joint is at limit
+ btScalar m_normalCFM;//!< Constraint force mixing factor
+ btScalar m_stopERP;//!< Error tolerance factor when joint is at limit
+ btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit
btScalar m_bounce;//!< restitution factor
bool m_enableMotor;
@@ -54,6 +60,7 @@
//! temp_variables
//!@{
btScalar m_currentLimitError;//! How much is violated this limit
+ btScalar m_currentPosition; //! current value of angle
int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit
btScalar m_accumulatedImpulse;
//!@}
@@ -64,9 +71,11 @@
m_targetVelocity = 0;
m_maxMotorForce = 0.1f;
m_maxLimitForce = 300.0f;
- m_loLimit = -SIMD_INFINITY;
- m_hiLimit = SIMD_INFINITY;
- m_ERP = 0.5f;
+ m_loLimit = 1.0f;
+ m_hiLimit = -1.0f;
+ m_normalCFM = 0.f;
+ m_stopERP = 0.2f;
+ m_stopCFM = 0.f;
m_bounce = 0.0f;
m_damping = 1.0f;
m_limitSoftness = 0.5f;
@@ -82,7 +91,9 @@
m_limitSoftness = limot.m_limitSoftness;
m_loLimit = limot.m_loLimit;
m_hiLimit = limot.m_hiLimit;
- m_ERP = limot.m_ERP;
+ m_normalCFM = limot.m_normalCFM;
+ m_stopERP = limot.m_stopERP;
+ m_stopCFM = limot.m_stopCFM;
m_bounce = limot.m_bounce;
m_currentLimit = limot.m_currentLimit;
m_currentLimitError = limot.m_currentLimitError;
@@ -112,7 +123,7 @@
int testLimitValue(btScalar test_value);
//! apply the correction impulses for two bodies
- btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btSolverBody& bodyA,btRigidBody * body1,btSolverBody& bodyB);
+ btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
};
@@ -129,11 +140,15 @@
btScalar m_limitSoftness;//!< Softness for linear limit
btScalar m_damping;//!< Damping for linear limit
btScalar m_restitution;//! Bounce parameter for linear limit
+ btVector3 m_normalCFM;//!< Constraint force mixing factor
+ btVector3 m_stopERP;//!< Error tolerance factor when joint is at limit
+ btVector3 m_stopCFM;//!< Constraint force mixing factor when joint is at limit
//!@}
bool m_enableMotor[3];
btVector3 m_targetVelocity;//!< target motor velocity
btVector3 m_maxMotorForce;//!< max force on motor
btVector3 m_currentLimitError;//! How much is violated this limit
+ btVector3 m_currentLinearDiff;//! Current relative offset of constraint frames
int m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
btTranslationalLimitMotor()
@@ -141,6 +156,9 @@
m_lowerLimit.setValue(0.f,0.f,0.f);
m_upperLimit.setValue(0.f,0.f,0.f);
m_accumulatedImpulse.setValue(0.f,0.f,0.f);
+ m_normalCFM.setValue(0.f, 0.f, 0.f);
+ m_stopERP.setValue(0.2f, 0.2f, 0.2f);
+ m_stopCFM.setValue(0.f, 0.f, 0.f);
m_limitSoftness = 0.7f;
m_damping = btScalar(1.0f);
@@ -162,6 +180,10 @@
m_limitSoftness = other.m_limitSoftness ;
m_damping = other.m_damping;
m_restitution = other.m_restitution;
+ m_normalCFM = other.m_normalCFM;
+ m_stopERP = other.m_stopERP;
+ m_stopCFM = other.m_stopCFM;
+
for(int i=0; i < 3; i++)
{
m_enableMotor[i] = other.m_enableMotor[i];
@@ -192,8 +214,8 @@
btScalar solveLinearAxis(
btScalar timeStep,
btScalar jacDiagABInv,
- btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
- btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
+ btRigidBody& body1,const btVector3 &pointInA,
+ btRigidBody& body2,const btVector3 &pointInB,
int limit_index,
const btVector3 & axis_normal_on_a,
const btVector3 & anchorPos);
@@ -201,6 +223,15 @@
};
+enum bt6DofFlags
+{
+ BT_6DOF_FLAGS_CFM_NORM = 1,
+ BT_6DOF_FLAGS_CFM_STOP = 2,
+ BT_6DOF_FLAGS_ERP_STOP = 4
+};
+#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis
+
+
/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/*!
btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'.
@@ -215,20 +246,22 @@
<li> Angulars limits have these possible ranges:
<table border=1 >
-<tr
-
+<tr>
<td><b>AXIS</b></td>
<td><b>MIN ANGLE</b></td>
<td><b>MAX ANGLE</b></td>
+</tr><tr>
<td>X</td>
- <td>-PI</td>
- <td>PI</td>
+ <td>-PI</td>
+ <td>PI</td>
+</tr><tr>
<td>Y</td>
- <td>-PI/2</td>
- <td>PI/2</td>
+ <td>-PI/2</td>
+ <td>PI/2</td>
+</tr><tr>
<td>Z</td>
- <td>-PI/2</td>
- <td>PI/2</td>
+ <td>-PI</td>
+ <td>PI</td>
</tr>
</table>
</li>
@@ -272,11 +305,17 @@
btVector3 m_calculatedAxisAngleDiff;
btVector3 m_calculatedAxis[3];
btVector3 m_calculatedLinearDiff;
+ btScalar m_factA;
+ btScalar m_factB;
+ bool m_hasStaticBody;
btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
bool m_useLinearReferenceFrameA;
+ bool m_useOffsetForConstraintFrame;
+ int m_flags;
+
//!@}
btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
@@ -287,9 +326,9 @@
}
- int setAngularLimits(btConstraintInfo2 *info, int row_offset);
+ int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
- int setLinearLimits(btConstraintInfo2 *info);
+ int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
void buildLinearJacobian(
btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -311,16 +350,17 @@
bool m_useSolveConstraintObsolete;
btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
-
- btGeneric6DofConstraint();
-
+ btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
+
//! Calcs global transform of the offsets
/*!
Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
*/
- void calculateTransforms();
+ void calculateTransforms(const btTransform& transA,const btTransform& transB);
+ void calculateTransforms();
+
//! Gets the global transform of the offset for body A
/*!
\sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.
@@ -366,10 +406,13 @@
virtual void getInfo1 (btConstraintInfo1* info);
+ void getInfo1NonVirtual (btConstraintInfo1* info);
+
virtual void getInfo2 (btConstraintInfo2* info);
- virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
+ void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
+
void updateRHS(btScalar timeStep);
//! Get the rotation axis in global coordinates
@@ -380,14 +423,21 @@
//! Get the relative Euler angle
/*!
- \pre btGeneric6DofConstraint.buildJacobian must be called previously.
+ \pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
btScalar getAngle(int axis_index) const;
+ //! Get the relative position of the constraint pivot
+ /*!
+ \pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
+ */
+ btScalar getRelativePivotPosition(int axis_index) const;
+
+
//! Test angular limit.
/*!
Calculates angular correction and returns true if limit needs to be corrected.
- \pre btGeneric6DofConstraint.buildJacobian must be called previously.
+ \pre btGeneric6DofConstraint::calculateTransforms() must be called previously.
*/
bool testAngularLimitMotor(int axis_index);
@@ -403,16 +453,14 @@
void setAngularLowerLimit(const btVector3& angularLower)
{
- m_angularLimits[0].m_loLimit = angularLower.getX();
- m_angularLimits[1].m_loLimit = angularLower.getY();
- m_angularLimits[2].m_loLimit = angularLower.getZ();
+ for(int i = 0; i < 3; i++)
+ m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
}
void setAngularUpperLimit(const btVector3& angularUpper)
{
- m_angularLimits[0].m_hiLimit = angularUpper.getX();
- m_angularLimits[1].m_hiLimit = angularUpper.getY();
- m_angularLimits[2].m_hiLimit = angularUpper.getZ();
+ for(int i = 0; i < 3; i++)
+ m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
}
//! Retrieves the angular limit informacion
@@ -437,6 +485,8 @@
}
else
{
+ lo = btNormalizeAngle(lo);
+ hi = btNormalizeAngle(hi);
m_angularLimits[axis-3].m_loLimit = lo;
m_angularLimits[axis-3].m_hiLimit = hi;
}
@@ -459,22 +509,80 @@
return m_angularLimits[limitIndex-3].isLimited();
}
- const btRigidBody& getRigidBodyA() const
- {
- return m_rbA;
- }
- const btRigidBody& getRigidBodyB() const
- {
- return m_rbB;
- }
-
virtual void calcAnchorPos(void); // overridable
int get_limit_motor_info2( btRotationalLimitMotor * limot,
- btRigidBody * body0, btRigidBody * body1,
- btConstraintInfo2 *info, int row, btVector3& ax1, int rotational);
+ const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
+ btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
+ // access for UseFrameOffset
+ bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+ void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+ ///If no axis is provided, it uses the default axis for this constraint.
+ virtual void setParam(int num, btScalar value, int axis = -1);
+ ///return the local value of parameter
+ virtual btScalar getParam(int num, int axis = -1) const;
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btGeneric6DofConstraintData
+{
+ btTypedConstraintData m_typeConstraintData;
+ btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+ btTransformFloatData m_rbBFrame;
+
+ btVector3FloatData m_linearUpperLimit;
+ btVector3FloatData m_linearLowerLimit;
+
+ btVector3FloatData m_angularUpperLimit;
+ btVector3FloatData m_angularLowerLimit;
+
+ int m_useLinearReferenceFrameA;
+ int m_useOffsetForConstraintFrame;
+};
+
+SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const
+{
+ return sizeof(btGeneric6DofConstraintData);
+}
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+ btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer;
+ btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
+
+ m_frameInA.serializeFloat(dof->m_rbAFrame);
+ m_frameInB.serializeFloat(dof->m_rbBFrame);
+
+
+ int i;
+ for (i=0;i<3;i++)
+ {
+ dof->m_angularLowerLimit.m_floats[i] = float(m_angularLimits[i].m_loLimit);
+ dof->m_angularUpperLimit.m_floats[i] = float(m_angularLimits[i].m_hiLimit);
+ dof->m_linearLowerLimit.m_floats[i] = float(m_linearLimits.m_lowerLimit[i]);
+ dof->m_linearUpperLimit.m_floats[i] = float(m_linearLimits.m_upperLimit[i]);
+ }
+
+ dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
+ dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
+
+ return "btGeneric6DofConstraintData";
+}
+
+
+
+
+
#endif //GENERIC_6DOF_CONSTRAINT_H
Copied: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,151 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+
+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 "btGeneric6DofSpringConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+
+
+btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
+ : btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA)
+{
+ for(int i = 0; i < 6; i++)
+ {
+ m_springEnabled[i] = false;
+ m_equilibriumPoint[i] = btScalar(0.f);
+ m_springStiffness[i] = btScalar(0.f);
+ m_springDamping[i] = btScalar(1.f);
+ }
+}
+
+
+void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff)
+{
+ btAssert((index >= 0) && (index < 6));
+ m_springEnabled[index] = onOff;
+ if(index < 3)
+ {
+ m_linearLimits.m_enableMotor[index] = onOff;
+ }
+ else
+ {
+ m_angularLimits[index - 3].m_enableMotor = onOff;
+ }
+}
+
+
+
+void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness)
+{
+ btAssert((index >= 0) && (index < 6));
+ m_springStiffness[index] = stiffness;
+}
+
+
+void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping)
+{
+ btAssert((index >= 0) && (index < 6));
+ m_springDamping[index] = damping;
+}
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint()
+{
+ calculateTransforms();
+ int i;
+
+ for( i = 0; i < 3; i++)
+ {
+ m_equilibriumPoint[i] = m_calculatedLinearDiff[i];
+ }
+ for(i = 0; i < 3; i++)
+ {
+ m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i];
+ }
+}
+
+
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
+{
+ btAssert((index >= 0) && (index < 6));
+ calculateTransforms();
+ if(index < 3)
+ {
+ m_equilibriumPoint[index] = m_calculatedLinearDiff[index];
+ }
+ else
+ {
+ m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3];
+ }
+}
+
+void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
+{
+ btAssert((index >= 0) && (index < 6));
+ m_equilibriumPoint[index] = val;
+}
+
+
+void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
+{
+ // it is assumed that calculateTransforms() have been called before this call
+ int i;
+ btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity();
+ for(i = 0; i < 3; i++)
+ {
+ if(m_springEnabled[i])
+ {
+ // get current position of constraint
+ btScalar currPos = m_calculatedLinearDiff[i];
+ // calculate difference
+ btScalar delta = currPos - m_equilibriumPoint[i];
+ // spring force is (delta * m_stiffness) according to Hooke's Law
+ btScalar force = delta * m_springStiffness[i];
+ btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
+ m_linearLimits.m_targetVelocity[i] = velFactor * force;
+ m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps;
+ }
+ }
+ for(i = 0; i < 3; i++)
+ {
+ if(m_springEnabled[i + 3])
+ {
+ // get current position of constraint
+ btScalar currPos = m_calculatedAxisAngleDiff[i];
+ // calculate difference
+ btScalar delta = currPos - m_equilibriumPoint[i+3];
+ // spring force is (-delta * m_stiffness) according to Hooke's Law
+ btScalar force = -delta * m_springStiffness[i+3];
+ btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
+ m_angularLimits[i].m_targetVelocity = velFactor * force;
+ m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
+ }
+ }
+}
+
+
+void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info)
+{
+ // this will be called by constraint solver at the constraint setup stage
+ // set current motor parameters
+ internalUpdateSprings(info);
+ // do the rest of job for constraint setup
+ btGeneric6DofConstraint::getInfo2(info);
+}
+
+
+
+
Copied: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,55 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+
+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.
+*/
+
+#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H
+#define GENERIC_6DOF_SPRING_CONSTRAINT_H
+
+
+#include "LinearMath/btVector3.h"
+#include "btTypedConstraint.h"
+#include "btGeneric6DofConstraint.h"
+
+
+/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
+
+/// DOF index used in enableSpring() and setStiffness() means:
+/// 0 : translation X
+/// 1 : translation Y
+/// 2 : translation Z
+/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
+/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
+/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
+
+class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
+{
+protected:
+ bool m_springEnabled[6];
+ btScalar m_equilibriumPoint[6];
+ btScalar m_springStiffness[6];
+ btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
+ void internalUpdateSprings(btConstraintInfo2* info);
+public:
+ btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
+ void enableSpring(int index, bool onOff);
+ void setStiffness(int index, btScalar stiffness);
+ void setDamping(int index, btScalar damping);
+ void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
+ void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
+ void setEquilibriumPoint(int index, btScalar val);
+ virtual void getInfo2 (btConstraintInfo2* info);
+};
+
+#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
+
Copied: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,66 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+
+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 "btHinge2Constraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+
+
+
+// constructor
+// anchor, axis1 and axis2 are in world coordinate system
+// axis1 must be orthogonal to axis2
+btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
+: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
+ m_anchor(anchor),
+ m_axis1(axis1),
+ m_axis2(axis2)
+{
+ // build frame basis
+ // 6DOF constraint uses Euler angles and to define limits
+ // it is assumed that rotational order is :
+ // Z - first, allowed limits are (-PI,PI);
+ // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
+ // used to prevent constraint from instability on poles;
+ // new position of X, allowed limits are (-PI,PI);
+ // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
+ // Build the frame in world coordinate system first
+ btVector3 zAxis = axis1.normalize();
+ btVector3 xAxis = axis2.normalize();
+ btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
+ btTransform frameInW;
+ frameInW.setIdentity();
+ frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
+ xAxis[1], yAxis[1], zAxis[1],
+ xAxis[2], yAxis[2], zAxis[2]);
+ frameInW.setOrigin(anchor);
+ // now get constraint frame in local coordinate systems
+ m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
+ m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
+ // sei limits
+ setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
+ setLinearUpperLimit(btVector3(0.f, 0.f, 1.f));
+ // like front wheels of a car
+ setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f));
+ setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f));
+ // enable suspension
+ enableSpring(2, true);
+ setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
+ setDamping(2, 0.01f);
+ setEquilibriumPoint();
+}
+
Copied: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,58 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+
+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.
+*/
+
+#ifndef HINGE2_CONSTRAINT_H
+#define HINGE2_CONSTRAINT_H
+
+
+
+#include "LinearMath/btVector3.h"
+#include "btTypedConstraint.h"
+#include "btGeneric6DofSpringConstraint.h"
+
+
+
+// Constraint similar to ODE Hinge2 Joint
+// has 3 degrees of frredom:
+// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
+// 1 translational (along axis Z) with suspension spring
+
+class btHinge2Constraint : public btGeneric6DofSpringConstraint
+{
+protected:
+ btVector3 m_anchor;
+ btVector3 m_axis1;
+ btVector3 m_axis2;
+public:
+ // constructor
+ // anchor, axis1 and axis2 are in world coordinate system
+ // axis1 must be orthogonal to axis2
+ btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
+ // access
+ const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
+ const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
+ const btVector3& getAxis1() { return m_axis1; }
+ const btVector3& getAxis2() { return m_axis2; }
+ btScalar getAngle1() { return getAngle(2); }
+ btScalar getAngle2() { return getAngle(0); }
+ // limits
+ void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
+ void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
+};
+
+
+
+#endif // HINGE2_CONSTRAINT_H
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -21,31 +21,28 @@
#include <new>
#include "btSolverBody.h"
-//-----------------------------------------------------------------------------
+
+//#define HINGE_USE_OBSOLETE_SOLVER false
#define HINGE_USE_OBSOLETE_SOLVER false
-//-----------------------------------------------------------------------------
+#define HINGE_USE_FRAME_OFFSET true
+#ifndef __SPU__
-btHingeConstraint::btHingeConstraint()
-: btTypedConstraint (HINGE_CONSTRAINT_TYPE),
-m_enableAngularMotor(false),
-m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useReferenceFrameA(false)
-{
- m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
-}
-//-----------------------------------------------------------------------------
+
+
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
- btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA)
+ const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
m_angularOnly(false),
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
- m_useReferenceFrameA(useReferenceFrameA)
+ m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+ m_useReferenceFrameA(useReferenceFrameA),
+ m_flags(0)
{
m_rbAFrame.getOrigin() = pivotInA;
@@ -79,8 +76,8 @@
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
- m_lowerLimit = btScalar(1e30);
- m_upperLimit = btScalar(-1e30);
+ m_lowerLimit = btScalar(1.0f);
+ m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -88,12 +85,14 @@
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
}
-//-----------------------------------------------------------------------------
-btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA)
+
+btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useReferenceFrameA(useReferenceFrameA)
+m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+m_useReferenceFrameA(useReferenceFrameA),
+m_flags(0)
{
// since no frame is given, assume this to be zero angle and just pick rb transform axis
@@ -119,8 +118,8 @@
rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
//start with free
- m_lowerLimit = btScalar(1e30);
- m_upperLimit = btScalar(-1e30);
+ m_lowerLimit = btScalar(1.0f);
+ m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -128,19 +127,21 @@
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
}
-//-----------------------------------------------------------------------------
+
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB,
const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
m_angularOnly(false),
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useReferenceFrameA(useReferenceFrameA)
+m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+m_useReferenceFrameA(useReferenceFrameA),
+m_flags(0)
{
//start with free
- m_lowerLimit = btScalar(1e30);
- m_upperLimit = btScalar(-1e30);
+ m_lowerLimit = btScalar(1.0f);
+ m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -148,22 +149,24 @@
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
}
-//-----------------------------------------------------------------------------
+
btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
m_angularOnly(false),
m_enableAngularMotor(false),
m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
-m_useReferenceFrameA(useReferenceFrameA)
+m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
+m_useReferenceFrameA(useReferenceFrameA),
+m_flags(0)
{
///not providing rigidbody B means implicitly using worldspace for body B
m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
//start with free
- m_lowerLimit = btScalar(1e30);
- m_upperLimit = btScalar(-1e30);
+ m_lowerLimit = btScalar(1.0f);
+ m_upperLimit = btScalar(-1.0f);
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
@@ -171,13 +174,14 @@
m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
}
-//-----------------------------------------------------------------------------
+
void btHingeConstraint::buildJacobian()
{
if (m_useSolveConstraintObsolete)
{
m_appliedImpulse = btScalar(0.);
+ m_accMotorImpulse = btScalar(0.);
if (!m_angularOnly)
{
@@ -221,7 +225,6 @@
btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local);
- getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
@@ -248,7 +251,7 @@
m_accLimitImpulse = btScalar(0.);
// test angular limit
- testLimit();
+ testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
//Compute K = J*W*J' for hinge axis
btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
@@ -258,8 +261,10 @@
}
}
-//-----------------------------------------------------------------------------
+#endif //__SPU__
+
+
void btHingeConstraint::getInfo1(btConstraintInfo1* info)
{
if (m_useSolveConstraintObsolete)
@@ -271,53 +276,123 @@
{
info->m_numConstraintRows = 5; // Fixed 3 linear + 2 angular
info->nub = 1;
+ //always add the row, to avoid computation (data is not available yet)
//prepare constraint
- testLimit();
+ testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
if(getSolveLimit() || getEnableAngularMotor())
{
info->m_numConstraintRows++; // limit 3rd anguar as well
info->nub--;
}
+
}
-} // btHingeConstraint::getInfo1 ()
+}
-//-----------------------------------------------------------------------------
+void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
+{
+ if (m_useSolveConstraintObsolete)
+ {
+ info->m_numConstraintRows = 0;
+ info->nub = 0;
+ }
+ else
+ {
+ //always add the 'limit' row, to avoid computation (data is not available yet)
+ info->m_numConstraintRows = 6; // Fixed 3 linear + 2 angular
+ info->nub = 0;
+ }
+}
void btHingeConstraint::getInfo2 (btConstraintInfo2* info)
{
+ if(m_useOffsetForConstraintFrame)
+ {
+ getInfo2InternalUsingFrameOffset(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
+ }
+ else
+ {
+ getInfo2Internal(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity());
+ }
+}
+
+
+void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+{
+ ///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now
+ testLimit(transA,transB);
+
+ getInfo2Internal(info,transA,transB,angVelA,angVelB);
+}
+
+
+void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+{
+
btAssert(!m_useSolveConstraintObsolete);
- int i, s = info->rowskip;
+ int i, skip = info->rowskip;
// transforms in world space
- btTransform trA = m_rbA.getCenterOfMassTransform()*m_rbAFrame;
- btTransform trB = m_rbB.getCenterOfMassTransform()*m_rbBFrame;
+ btTransform trA = transA*m_rbAFrame;
+ btTransform trB = transB*m_rbBFrame;
// pivot point
btVector3 pivotAInW = trA.getOrigin();
btVector3 pivotBInW = trB.getOrigin();
+#if 0
+ if (0)
+ {
+ for (i=0;i<6;i++)
+ {
+ info->m_J1linearAxis[i*skip]=0;
+ info->m_J1linearAxis[i*skip+1]=0;
+ info->m_J1linearAxis[i*skip+2]=0;
+
+ info->m_J1angularAxis[i*skip]=0;
+ info->m_J1angularAxis[i*skip+1]=0;
+ info->m_J1angularAxis[i*skip+2]=0;
+
+ info->m_J2angularAxis[i*skip]=0;
+ info->m_J2angularAxis[i*skip+1]=0;
+ info->m_J2angularAxis[i*skip+2]=0;
+
+ info->m_constraintError[i*skip]=0.f;
+ }
+ }
+#endif //#if 0
// linear (all fixed)
- info->m_J1linearAxis[0] = 1;
- info->m_J1linearAxis[s + 1] = 1;
- info->m_J1linearAxis[2 * s + 2] = 1;
- btVector3 a1 = pivotAInW - m_rbA.getCenterOfMassTransform().getOrigin();
+
+ if (!m_angularOnly)
{
+ info->m_J1linearAxis[0] = 1;
+ info->m_J1linearAxis[skip + 1] = 1;
+ info->m_J1linearAxis[2 * skip + 2] = 1;
+ }
+
+
+
+
+ btVector3 a1 = pivotAInW - transA.getOrigin();
+ {
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
- btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + s);
- btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * s);
+ btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + skip);
+ btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * skip);
btVector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
- btVector3 a2 = pivotBInW - m_rbB.getCenterOfMassTransform().getOrigin();
+ btVector3 a2 = pivotBInW - transB.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
- btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + s);
- btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * s);
+ btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + skip);
+ btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * skip);
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// linear RHS
btScalar k = info->fps * info->erp;
- for(i = 0; i < 3; i++)
- {
- info->m_constraintError[i * s] = k * (pivotBInW[i] - pivotAInW[i]);
- }
+ if (!m_angularOnly)
+ {
+ for(i = 0; i < 3; i++)
+ {
+ info->m_constraintError[i * skip] = k * (pivotBInW[i] - pivotAInW[i]);
+ }
+ }
// make rotations around X and Y equal
// the hinge axis should be the only unconstrained
// rotational axis, the angular velocity of the two bodies perpendicular to
@@ -402,19 +477,26 @@
powered = 0;
}
info->m_constraintError[srow] = btScalar(0.0f);
+ btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
if(powered)
{
- info->cfm[srow] = btScalar(0.0);
- btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * info->erp);
+ if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
+ {
+ info->cfm[srow] = m_normalCFM;
+ }
+ btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
info->m_lowerLimit[srow] = - m_maxMotorImpulse;
info->m_upperLimit[srow] = m_maxMotorImpulse;
}
if(limit)
{
- k = info->fps * info->erp;
+ k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
- info->cfm[srow] = btScalar(0.0);
+ if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
+ {
+ info->cfm[srow] = m_stopCFM;
+ }
if(lostop == histop)
{
// limited low and high simultaneously
@@ -435,8 +517,8 @@
btScalar bounce = m_relaxationFactor;
if(bounce > btScalar(0.0))
{
- btScalar vel = m_rbA.getAngularVelocity().dot(ax1);
- vel -= m_rbB.getAngularVelocity().dot(ax1);
+ btScalar vel = angVelA.dot(ax1);
+ vel -= angVelB.dot(ax1);
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
if(limit == 1)
@@ -467,175 +549,35 @@
} // if angular limit or powered
}
-//-----------------------------------------------------------------------------
-void btHingeConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
-{
- ///for backwards compatibility during the transition to 'getInfo/getInfo2'
- if (m_useSolveConstraintObsolete)
- {
- btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin();
- btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin();
- btScalar tau = btScalar(0.3);
- //linear part
- if (!m_angularOnly)
- {
- btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
- btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
-
- btVector3 vel1,vel2;
- bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
- bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
- btVector3 vel = vel1 - vel2;
-
- for (int i=0;i<3;i++)
- {
- const btVector3& normal = m_jac[i].m_linearJointAxis;
- btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
-
- btScalar rel_vel;
- rel_vel = normal.dot(vel);
- //positional error (zeroth order error)
- btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
- btScalar impulse = depth*tau/timeStep * jacDiagABInv - rel_vel * jacDiagABInv;
- m_appliedImpulse += impulse;
- btVector3 impulse_vector = normal * impulse;
- btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
- btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
- bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse);
- bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse);
- }
- }
-
-
- {
- ///solve angular part
-
- // get axes in world space
- btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
- btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(2);
-
- btVector3 angVelA;
- bodyA.getAngularVelocity(angVelA);
- btVector3 angVelB;
- bodyB.getAngularVelocity(angVelB);
-
- btVector3 angVelAroundHingeAxisA = axisA * axisA.dot(angVelA);
- btVector3 angVelAroundHingeAxisB = axisB * axisB.dot(angVelB);
-
- btVector3 angAorthog = angVelA - angVelAroundHingeAxisA;
- btVector3 angBorthog = angVelB - angVelAroundHingeAxisB;
- btVector3 velrelOrthog = angAorthog-angBorthog;
- {
-
-
- //solve orthogonal angular velocity correction
- btScalar relaxation = btScalar(1.);
- btScalar len = velrelOrthog.length();
- if (len > btScalar(0.00001))
- {
- btVector3 normal = velrelOrthog.normalized();
- btScalar denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
- getRigidBodyB().computeAngularImpulseDenominator(normal);
- // scale for mass and relaxation
- //velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor;
-
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*velrelOrthog,-(btScalar(1.)/denom));
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*velrelOrthog,(btScalar(1.)/denom));
-
- }
-
- //solve angular positional correction
- btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/timeStep);
- btScalar len2 = angularError.length();
- if (len2>btScalar(0.00001))
- {
- btVector3 normal2 = angularError.normalized();
- btScalar denom2 = getRigidBodyA().computeAngularImpulseDenominator(normal2) +
- getRigidBodyB().computeAngularImpulseDenominator(normal2);
- //angularError *= (btScalar(1.)/denom2) * relaxation;
-
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*angularError,(btScalar(1.)/denom2));
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*angularError,-(btScalar(1.)/denom2));
-
- }
-
-
-
-
-
- // solve limit
- if (m_solveLimit)
- {
- btScalar amplitude = ( (angVelB - angVelA).dot( axisA )*m_relaxationFactor + m_correction* (btScalar(1.)/timeStep)*m_biasFactor ) * m_limitSign;
-
- btScalar impulseMag = amplitude * m_kHinge;
-
- // Clamp the accumulated impulse
- btScalar temp = m_accLimitImpulse;
- m_accLimitImpulse = btMax(m_accLimitImpulse + impulseMag, btScalar(0) );
- impulseMag = m_accLimitImpulse - temp;
-
-
-
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*axisA,impulseMag * m_limitSign);
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*axisA,-(impulseMag * m_limitSign));
-
- }
- }
-
- //apply motor
- if (m_enableAngularMotor)
- {
- //todo: add limits too
- btVector3 angularLimit(0,0,0);
-
- btVector3 velrel = angVelAroundHingeAxisA - angVelAroundHingeAxisB;
- btScalar projRelVel = velrel.dot(axisA);
-
- btScalar desiredMotorVel = m_motorTargetVelocity;
- btScalar motor_relvel = desiredMotorVel - projRelVel;
-
- btScalar unclippedMotorImpulse = m_kHinge * motor_relvel;;
- //todo: should clip against accumulated impulse
- btScalar clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse;
- clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;
- btVector3 motorImp = clippedMotorImpulse * axisA;
-
- bodyA.applyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*axisA,clippedMotorImpulse);
- bodyB.applyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*axisA,-clippedMotorImpulse);
-
- }
- }
- }
-
-}
-
-//-----------------------------------------------------------------------------
-
void btHingeConstraint::updateRHS(btScalar timeStep)
{
(void)timeStep;
}
-//-----------------------------------------------------------------------------
btScalar btHingeConstraint::getHingeAngle()
{
- const btVector3 refAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(0);
- const btVector3 refAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(1);
- const btVector3 swingAxis = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(1);
- btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
+ return getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+}
+
+btScalar btHingeConstraint::getHingeAngle(const btTransform& transA,const btTransform& transB)
+{
+ const btVector3 refAxis0 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
+ const btVector3 refAxis1 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
+ const btVector3 swingAxis = transB.getBasis() * m_rbBFrame.getBasis().getColumn(1);
+// btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
+ btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
return m_referenceSign * angle;
}
-//-----------------------------------------------------------------------------
+#if 0
void btHingeConstraint::testLimit()
{
// Compute limit information
@@ -659,8 +601,404 @@
}
}
return;
-} // btHingeConstraint::testLimit()
+}
+#else
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
+
+void btHingeConstraint::testLimit(const btTransform& transA,const btTransform& transB)
+{
+ // Compute limit information
+ m_hingeAngle = getHingeAngle(transA,transB);
+ m_correction = btScalar(0.);
+ m_limitSign = btScalar(0.);
+ m_solveLimit = false;
+ if (m_lowerLimit <= m_upperLimit)
+ {
+ m_hingeAngle = btAdjustAngleToLimits(m_hingeAngle, m_lowerLimit, m_upperLimit);
+ if (m_hingeAngle <= m_lowerLimit)
+ {
+ m_correction = (m_lowerLimit - m_hingeAngle);
+ m_limitSign = 1.0f;
+ m_solveLimit = true;
+ }
+ else if (m_hingeAngle >= m_upperLimit)
+ {
+ m_correction = m_upperLimit - m_hingeAngle;
+ m_limitSign = -1.0f;
+ m_solveLimit = true;
+ }
+ }
+ return;
+}
+#endif
+
+static btVector3 vHinge(0, 0, btScalar(1));
+
+void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
+{
+ // convert target from body to constraint space
+ btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * qAinB * m_rbAFrame.getRotation();
+ qConstraint.normalize();
+
+ // extract "pure" hinge component
+ btVector3 vNoHinge = quatRotate(qConstraint, vHinge); vNoHinge.normalize();
+ btQuaternion qNoHinge = shortestArcQuat(vHinge, vNoHinge);
+ btQuaternion qHinge = qNoHinge.inverse() * qConstraint;
+ qHinge.normalize();
+
+ // compute angular target, clamped to limits
+ btScalar targetAngle = qHinge.getAngle();
+ if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate.
+ {
+ qHinge = operator-(qHinge);
+ targetAngle = qHinge.getAngle();
+ }
+ if (qHinge.getZ() < 0)
+ targetAngle = -targetAngle;
+
+ setMotorTarget(targetAngle, dt);
+}
+
+void btHingeConstraint::setMotorTarget(btScalar targetAngle, btScalar dt)
+{
+ if (m_lowerLimit < m_upperLimit)
+ {
+ if (targetAngle < m_lowerLimit)
+ targetAngle = m_lowerLimit;
+ else if (targetAngle > m_upperLimit)
+ targetAngle = m_upperLimit;
+ }
+
+ // compute angular velocity
+ btScalar curAngle = getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+ btScalar dAngle = targetAngle - curAngle;
+ m_motorTargetVelocity = dAngle / dt;
+}
+
+
+
+void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB)
+{
+ btAssert(!m_useSolveConstraintObsolete);
+ int i, s = info->rowskip;
+ // transforms in world space
+ btTransform trA = transA*m_rbAFrame;
+ btTransform trB = transB*m_rbBFrame;
+ // pivot point
+ btVector3 pivotAInW = trA.getOrigin();
+ btVector3 pivotBInW = trB.getOrigin();
+#if 1
+ // difference between frames in WCS
+ btVector3 ofs = trB.getOrigin() - trA.getOrigin();
+ // now get weight factors depending on masses
+ btScalar miA = getRigidBodyA().getInvMass();
+ btScalar miB = getRigidBodyB().getInvMass();
+ bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
+ btScalar miS = miA + miB;
+ btScalar factA, factB;
+ if(miS > btScalar(0.f))
+ {
+ factA = miB / miS;
+ }
+ else
+ {
+ factA = btScalar(0.5f);
+ }
+ factB = btScalar(1.0f) - factA;
+ // get the desired direction of hinge axis
+ // as weighted sum of Z-orthos of frameA and frameB in WCS
+ btVector3 ax1A = trA.getBasis().getColumn(2);
+ btVector3 ax1B = trB.getBasis().getColumn(2);
+ btVector3 ax1 = ax1A * factA + ax1B * factB;
+ ax1.normalize();
+ // fill first 3 rows
+ // we want: velA + wA x relA == velB + wB x relB
+ btTransform bodyA_trans = transA;
+ btTransform bodyB_trans = transB;
+ int s0 = 0;
+ int s1 = s;
+ int s2 = s * 2;
+ int nrow = 2; // last filled row
+ btVector3 tmpA, tmpB, relA, relB, p, q;
+ // get vector from bodyB to frameB in WCS
+ relB = trB.getOrigin() - bodyB_trans.getOrigin();
+ // get its projection to hinge axis
+ btVector3 projB = ax1 * relB.dot(ax1);
+ // get vector directed from bodyB to hinge axis (and orthogonal to it)
+ btVector3 orthoB = relB - projB;
+ // same for bodyA
+ relA = trA.getOrigin() - bodyA_trans.getOrigin();
+ btVector3 projA = ax1 * relA.dot(ax1);
+ btVector3 orthoA = relA - projA;
+ btVector3 totalDist = projA - projB;
+ // get offset vectors relA and relB
+ relA = orthoA + totalDist * factA;
+ relB = orthoB - totalDist * factB;
+ // now choose average ortho to hinge axis
+ p = orthoB * factA + orthoA * factB;
+ btScalar len2 = p.length2();
+ if(len2 > SIMD_EPSILON)
+ {
+ p /= btSqrt(len2);
+ }
+ else
+ {
+ p = trA.getBasis().getColumn(1);
+ }
+ // make one more ortho
+ q = ax1.cross(p);
+ // fill three rows
+ tmpA = relA.cross(p);
+ tmpB = relB.cross(p);
+ for (i=0; i<3; i++) info->m_J1angularAxis[s0+i] = tmpA[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[s0+i] = -tmpB[i];
+ tmpA = relA.cross(q);
+ tmpB = relB.cross(q);
+ if(hasStaticBody && getSolveLimit())
+ { // to make constraint between static and dynamic objects more rigid
+ // remove wA (or wB) from equation if angular limit is hit
+ tmpB *= factB;
+ tmpA *= factA;
+ }
+ for (i=0; i<3; i++) info->m_J1angularAxis[s1+i] = tmpA[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[s1+i] = -tmpB[i];
+ tmpA = relA.cross(ax1);
+ tmpB = relB.cross(ax1);
+ if(hasStaticBody)
+ { // to make constraint between static and dynamic objects more rigid
+ // remove wA (or wB) from equation
+ tmpB *= factB;
+ tmpA *= factA;
+ }
+ for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
+
+ btScalar k = info->fps * info->erp;
+
+ if (!m_angularOnly)
+ {
+ for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
+ for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
+ for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
+
+ // compute three elements of right hand side
+
+ btScalar rhs = k * p.dot(ofs);
+ info->m_constraintError[s0] = rhs;
+ rhs = k * q.dot(ofs);
+ info->m_constraintError[s1] = rhs;
+ rhs = k * ax1.dot(ofs);
+ info->m_constraintError[s2] = rhs;
+ }
+ // the hinge axis should be the only unconstrained
+ // rotational axis, the angular velocity of the two bodies perpendicular to
+ // the hinge axis should be equal. thus the constraint equations are
+ // p*w1 - p*w2 = 0
+ // q*w1 - q*w2 = 0
+ // where p and q are unit vectors normal to the hinge axis, and w1 and w2
+ // are the angular velocity vectors of the two bodies.
+ int s3 = 3 * s;
+ int s4 = 4 * s;
+ info->m_J1angularAxis[s3 + 0] = p[0];
+ info->m_J1angularAxis[s3 + 1] = p[1];
+ info->m_J1angularAxis[s3 + 2] = p[2];
+ info->m_J1angularAxis[s4 + 0] = q[0];
+ info->m_J1angularAxis[s4 + 1] = q[1];
+ info->m_J1angularAxis[s4 + 2] = q[2];
+
+ info->m_J2angularAxis[s3 + 0] = -p[0];
+ info->m_J2angularAxis[s3 + 1] = -p[1];
+ info->m_J2angularAxis[s3 + 2] = -p[2];
+ info->m_J2angularAxis[s4 + 0] = -q[0];
+ info->m_J2angularAxis[s4 + 1] = -q[1];
+ info->m_J2angularAxis[s4 + 2] = -q[2];
+ // compute the right hand side of the constraint equation. set relative
+ // body velocities along p and q to bring the hinge back into alignment.
+ // if ax1A,ax1B are the unit length hinge axes as computed from bodyA and
+ // bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
+ // if "theta" is the angle between ax1 and ax2, we need an angular velocity
+ // along u to cover angle erp*theta in one step :
+ // |angular_velocity| = angle/time = erp*theta / stepsize
+ // = (erp*fps) * theta
+ // angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
+ // = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
+ // ...as ax1 and ax2 are unit length. if theta is smallish,
+ // theta ~= sin(theta), so
+ // angular_velocity = (erp*fps) * (ax1 x ax2)
+ // ax1 x ax2 is in the plane space of ax1, so we project the angular
+ // velocity to p and q to find the right hand side.
+ k = info->fps * info->erp;
+ btVector3 u = ax1A.cross(ax1B);
+ info->m_constraintError[s3] = k * u.dot(p);
+ info->m_constraintError[s4] = k * u.dot(q);
+#endif
+ // check angular limits
+ nrow = 4; // last filled row
+ int srow;
+ btScalar limit_err = btScalar(0.0);
+ int limit = 0;
+ if(getSolveLimit())
+ {
+ limit_err = m_correction * m_referenceSign;
+ limit = (limit_err > btScalar(0.0)) ? 1 : 2;
+ }
+ // if the hinge has joint limits or motor, add in the extra row
+ int powered = 0;
+ if(getEnableAngularMotor())
+ {
+ powered = 1;
+ }
+ if(limit || powered)
+ {
+ nrow++;
+ srow = nrow * info->rowskip;
+ info->m_J1angularAxis[srow+0] = ax1[0];
+ info->m_J1angularAxis[srow+1] = ax1[1];
+ info->m_J1angularAxis[srow+2] = ax1[2];
+
+ info->m_J2angularAxis[srow+0] = -ax1[0];
+ info->m_J2angularAxis[srow+1] = -ax1[1];
+ info->m_J2angularAxis[srow+2] = -ax1[2];
+
+ btScalar lostop = getLowerLimit();
+ btScalar histop = getUpperLimit();
+ if(limit && (lostop == histop))
+ { // the joint motor is ineffective
+ powered = 0;
+ }
+ info->m_constraintError[srow] = btScalar(0.0f);
+ btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp;
+ if(powered)
+ {
+ if(m_flags & BT_HINGE_FLAGS_CFM_NORM)
+ {
+ info->cfm[srow] = m_normalCFM;
+ }
+ btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
+ info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
+ info->m_lowerLimit[srow] = - m_maxMotorImpulse;
+ info->m_upperLimit[srow] = m_maxMotorImpulse;
+ }
+ if(limit)
+ {
+ k = info->fps * currERP;
+ info->m_constraintError[srow] += k * limit_err;
+ if(m_flags & BT_HINGE_FLAGS_CFM_STOP)
+ {
+ info->cfm[srow] = m_stopCFM;
+ }
+ if(lostop == histop)
+ {
+ // limited low and high simultaneously
+ info->m_lowerLimit[srow] = -SIMD_INFINITY;
+ info->m_upperLimit[srow] = SIMD_INFINITY;
+ }
+ else if(limit == 1)
+ { // low limit
+ info->m_lowerLimit[srow] = 0;
+ info->m_upperLimit[srow] = SIMD_INFINITY;
+ }
+ else
+ { // high limit
+ info->m_lowerLimit[srow] = -SIMD_INFINITY;
+ info->m_upperLimit[srow] = 0;
+ }
+ // bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
+ btScalar bounce = m_relaxationFactor;
+ if(bounce > btScalar(0.0))
+ {
+ btScalar vel = angVelA.dot(ax1);
+ vel -= angVelB.dot(ax1);
+ // only apply bounce if the velocity is incoming, and if the
+ // resulting c[] exceeds what we already have.
+ if(limit == 1)
+ { // low limit
+ if(vel < 0)
+ {
+ btScalar newc = -bounce * vel;
+ if(newc > info->m_constraintError[srow])
+ {
+ info->m_constraintError[srow] = newc;
+ }
+ }
+ }
+ else
+ { // high limit - all those computations are reversed
+ if(vel > 0)
+ {
+ btScalar newc = -bounce * vel;
+ if(newc < info->m_constraintError[srow])
+ {
+ info->m_constraintError[srow] = newc;
+ }
+ }
+ }
+ }
+ info->m_constraintError[srow] *= m_biasFactor;
+ } // if(limit)
+ } // if angular limit or powered
+}
+
+
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+///If no axis is provided, it uses the default axis for this constraint.
+void btHingeConstraint::setParam(int num, btScalar value, int axis)
+{
+ if((axis == -1) || (axis == 5))
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_STOP_ERP :
+ m_stopERP = value;
+ m_flags |= BT_HINGE_FLAGS_ERP_STOP;
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ m_stopCFM = value;
+ m_flags |= BT_HINGE_FLAGS_CFM_STOP;
+ break;
+ case BT_CONSTRAINT_CFM :
+ m_normalCFM = value;
+ m_flags |= BT_HINGE_FLAGS_CFM_NORM;
+ break;
+ default :
+ btAssertConstrParams(0);
+ }
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+}
+
+///return the local value of parameter
+btScalar btHingeConstraint::getParam(int num, int axis) const
+{
+ btScalar retVal = 0;
+ if((axis == -1) || (axis == 5))
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_STOP_ERP :
+ btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP);
+ retVal = m_stopERP;
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP);
+ retVal = m_stopCFM;
+ break;
+ case BT_CONSTRAINT_CFM :
+ btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
+ retVal = m_normalCFM;
+ break;
+ default :
+ btAssertConstrParams(0);
+ }
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+ return retVal;
+}
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -24,9 +24,26 @@
class btRigidBody;
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btHingeConstraintData btHingeConstraintDoubleData
+#define btHingeConstraintDataName "btHingeConstraintDoubleData"
+#else
+#define btHingeConstraintData btHingeConstraintFloatData
+#define btHingeConstraintDataName "btHingeConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+enum btHingeFlags
+{
+ BT_HINGE_FLAGS_CFM_STOP = 1,
+ BT_HINGE_FLAGS_ERP_STOP = 2,
+ BT_HINGE_FLAGS_CFM_NORM = 4
+};
+
+
/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
/// axis defines the orientation of the hinge axis
-class btHingeConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
@@ -60,29 +77,42 @@
bool m_enableAngularMotor;
bool m_solveLimit;
bool m_useSolveConstraintObsolete;
+ bool m_useOffsetForConstraintFrame;
bool m_useReferenceFrameA;
+ btScalar m_accMotorImpulse;
+
+ int m_flags;
+ btScalar m_normalCFM;
+ btScalar m_stopCFM;
+ btScalar m_stopERP;
+
public:
- btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB, bool useReferenceFrameA = false);
+ btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
- btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA, bool useReferenceFrameA = false);
+ btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
- btHingeConstraint();
virtual void buildJacobian();
virtual void getInfo1 (btConstraintInfo1* info);
+ void getInfo1NonVirtual(btConstraintInfo1* info);
+
virtual void getInfo2 (btConstraintInfo2* info);
-
- virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
+ void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+
+ void getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+ void getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+
+
void updateRHS(btScalar timeStep);
const btRigidBody& getRigidBodyA() const
@@ -116,10 +146,19 @@
m_maxMotorImpulse = maxMotorImpulse;
}
+ // extra motor API, including ability to set a target rotation (as opposed to angular velocity)
+ // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
+ // maintain a given angular target.
+ void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; }
+ void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
+ void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
+ void setMotorTarget(btScalar targetAngle, btScalar dt);
+
+
void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
{
- m_lowerLimit = low;
- m_upperLimit = high;
+ m_lowerLimit = btNormalizeAngle(low);
+ m_upperLimit = btNormalizeAngle(high);
m_limitSoftness = _softness;
m_biasFactor = _biasFactor;
@@ -127,6 +166,29 @@
}
+ void setAxis(btVector3& axisInA)
+ {
+ btVector3 rbAxisA1, rbAxisA2;
+ btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
+ btVector3 pivotInA = m_rbAFrame.getOrigin();
+// m_rbAFrame.getOrigin() = pivotInA;
+ m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
+ rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
+ rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
+
+ btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
+
+ btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
+ btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1);
+ btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
+
+
+ m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA);
+ m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
+ rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
+ rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
+ }
+
btScalar getLowerLimit() const
{
return m_lowerLimit;
@@ -140,12 +202,17 @@
btScalar getHingeAngle();
- void testLimit();
+ btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
+ void testLimit(const btTransform& transA,const btTransform& transB);
- const btTransform& getAFrame() { return m_rbAFrame; };
- const btTransform& getBFrame() { return m_rbBFrame; };
+ const btTransform& getAFrame() const { return m_rbAFrame; };
+ const btTransform& getBFrame() const { return m_rbBFrame; };
+
+ btTransform& getAFrame() { return m_rbAFrame; };
+ btTransform& getBFrame() { return m_rbBFrame; };
+
inline int getSolveLimit()
{
return m_solveLimit;
@@ -172,7 +239,94 @@
{
return m_maxMotorImpulse;
}
+ // access for UseFrameOffset
+ bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+ void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+ ///If no axis is provided, it uses the default axis for this constraint.
+ virtual void setParam(int num, btScalar value, int axis = -1);
+ ///return the local value of parameter
+ virtual btScalar getParam(int num, int axis = -1) const;
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btHingeConstraintDoubleData
+{
+ btTypedConstraintData m_typeConstraintData;
+ btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+ btTransformDoubleData m_rbBFrame;
+ int m_useReferenceFrameA;
+ int m_angularOnly;
+ int m_enableAngularMotor;
+ float m_motorTargetVelocity;
+ float m_maxMotorImpulse;
+
+ float m_lowerLimit;
+ float m_upperLimit;
+ float m_limitSoftness;
+ float m_biasFactor;
+ float m_relaxationFactor;
+
+};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btHingeConstraintFloatData
+{
+ btTypedConstraintData m_typeConstraintData;
+ btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+ btTransformFloatData m_rbBFrame;
+ int m_useReferenceFrameA;
+ int m_angularOnly;
+
+ int m_enableAngularMotor;
+ float m_motorTargetVelocity;
+ float m_maxMotorImpulse;
+
+ float m_lowerLimit;
+ float m_upperLimit;
+ float m_limitSoftness;
+ float m_biasFactor;
+ float m_relaxationFactor;
+
+};
+
+
+
+SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const
+{
+ return sizeof(btHingeConstraintData);
+}
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
+ btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
+
+ m_rbAFrame.serialize(hingeData->m_rbAFrame);
+ m_rbBFrame.serialize(hingeData->m_rbBFrame);
+
+ hingeData->m_angularOnly = m_angularOnly;
+ hingeData->m_enableAngularMotor = m_enableAngularMotor;
+ hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
+ hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
+ hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
+
+ hingeData->m_lowerLimit = float(m_lowerLimit);
+ hingeData->m_upperLimit = float(m_upperLimit);
+ hingeData->m_limitSoftness = float(m_limitSoftness);
+ hingeData->m_biasFactor = float(m_biasFactor);
+ hingeData->m_relaxationFactor = float(m_relaxationFactor);
+
+ return btHingeConstraintDataName;
+}
+
#endif //HINGECONSTRAINT_H
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -28,7 +28,7 @@
/// Jacobian entry is an abstraction that allows to describe constraints
/// it can be used in combination with a constraint solver
/// Can be used to relate the effect of an impulse to the constraint error
-class btJacobianEntry
+ATTRIBUTE_ALIGNED16(class) btJacobianEntry
{
public:
btJacobianEntry() {};
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,14 +20,11 @@
-btPoint2PointConstraint::btPoint2PointConstraint()
-:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE),
-m_useSolveConstraintObsolete(false)
-{
-}
+
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
+m_flags(0),
m_useSolveConstraintObsolete(false)
{
@@ -36,6 +33,7 @@
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)),
+m_flags(0),
m_useSolveConstraintObsolete(false)
{
@@ -43,6 +41,7 @@
void btPoint2PointConstraint::buildJacobian()
{
+
///we need it for both methods
{
m_appliedImpulse = btScalar(0.);
@@ -66,11 +65,16 @@
}
}
+
}
-
void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info)
{
+ getInfo1NonVirtual(info);
+}
+
+void btPoint2PointConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
+{
if (m_useSolveConstraintObsolete)
{
info->m_numConstraintRows = 0;
@@ -82,22 +86,26 @@
}
}
+
+
+
void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info)
{
+ getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+}
+
+void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
+{
btAssert(!m_useSolveConstraintObsolete);
//retrieve matrices
- btTransform body0_trans;
- body0_trans = m_rbA.getCenterOfMassTransform();
- btTransform body1_trans;
- body1_trans = m_rbB.getCenterOfMassTransform();
// anchor points in global coordinates with respect to body PORs.
// set jacobian
info->m_J1linearAxis[0] = 1;
- info->m_J1linearAxis[info->rowskip+1] = 1;
- info->m_J1linearAxis[2*info->rowskip+2] = 1;
+ info->m_J1linearAxis[info->rowskip+1] = 1;
+ info->m_J1linearAxis[2*info->rowskip+2] = 1;
btVector3 a1 = body0_trans.getBasis()*getPivotInA();
{
@@ -126,14 +134,21 @@
// set right hand side
- btScalar k = info->fps * info->erp;
+ btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
+ btScalar k = info->fps * currERP;
int j;
-
for (j=0; j<3; j++)
{
- info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
+ info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
}
+ if(m_flags & BT_P2P_FLAGS_CFM)
+ {
+ for (j=0; j<3; j++)
+ {
+ info->cfm[j*info->rowskip] = m_cfm;
+ }
+ }
btScalar impulseClamp = m_setting.m_impulseClamp;//
for (j=0; j<3; j++)
@@ -144,87 +159,72 @@
info->m_upperLimit[j*info->rowskip] = impulseClamp;
}
}
+ info->m_damping = m_setting.m_damping;
}
-void btPoint2PointConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
+
+void btPoint2PointConstraint::updateRHS(btScalar timeStep)
{
- if (m_useSolveConstraintObsolete)
- {
- btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
- btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
+ (void)timeStep;
+}
- btVector3 normal(0,0,0);
-
-
- // btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
- // btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
-
- for (int i=0;i<3;i++)
- {
- normal[i] = 1;
- btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal();
-
- btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition();
- btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
- //this jacobian entry could be re-used for all iterations
-
- btVector3 vel1,vel2;
- bodyA.getVelocityInLocalPointObsolete(rel_pos1,vel1);
- bodyB.getVelocityInLocalPointObsolete(rel_pos2,vel2);
- btVector3 vel = vel1 - vel2;
-
- btScalar rel_vel;
- rel_vel = normal.dot(vel);
-
- /*
- //velocity error (first order error)
- btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
- m_rbB.getLinearVelocity(),angvelB);
- */
-
- //positional error (zeroth order error)
- btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
-
- btScalar deltaImpulse = depth*m_setting.m_tau/timeStep * jacDiagABInv - m_setting.m_damping * rel_vel * jacDiagABInv;
-
- btScalar impulseClamp = m_setting.m_impulseClamp;
-
- const btScalar sum = btScalar(m_appliedImpulse) + deltaImpulse;
- if (sum < -impulseClamp)
- {
- deltaImpulse = -impulseClamp-m_appliedImpulse;
- m_appliedImpulse = -impulseClamp;
- }
- else if (sum > impulseClamp)
- {
- deltaImpulse = impulseClamp-m_appliedImpulse;
- m_appliedImpulse = impulseClamp;
- }
- else
- {
- m_appliedImpulse = sum;
- }
-
-
- btVector3 impulse_vector = normal * deltaImpulse;
-
- btVector3 ftorqueAxis1 = rel_pos1.cross(normal);
- btVector3 ftorqueAxis2 = rel_pos2.cross(normal);
- bodyA.applyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,deltaImpulse);
- bodyB.applyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-deltaImpulse);
-
-
- normal[i] = 0;
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+///If no axis is provided, it uses the default axis for this constraint.
+void btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
+{
+ if(axis != -1)
+ {
+ btAssertConstrParams(0);
+ }
+ else
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_ERP :
+ case BT_CONSTRAINT_STOP_ERP :
+ m_erp = value;
+ m_flags |= BT_P2P_FLAGS_ERP;
+ break;
+ case BT_CONSTRAINT_CFM :
+ case BT_CONSTRAINT_STOP_CFM :
+ m_cfm = value;
+ m_flags |= BT_P2P_FLAGS_CFM;
+ break;
+ default:
+ btAssertConstrParams(0);
}
}
}
-void btPoint2PointConstraint::updateRHS(btScalar timeStep)
+///return the local value of parameter
+btScalar btPoint2PointConstraint::getParam(int num, int axis) const
{
- (void)timeStep;
-
+ btScalar retVal(SIMD_INFINITY);
+ if(axis != -1)
+ {
+ btAssertConstrParams(0);
+ }
+ else
+ {
+ switch(num)
+ {
+ case BT_CONSTRAINT_ERP :
+ case BT_CONSTRAINT_STOP_ERP :
+ btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
+ retVal = m_erp;
+ break;
+ case BT_CONSTRAINT_CFM :
+ case BT_CONSTRAINT_STOP_CFM :
+ btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
+ retVal = m_cfm;
+ break;
+ default:
+ btAssertConstrParams(0);
+ }
+ }
+ return retVal;
}
-
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -22,6 +22,15 @@
class btRigidBody;
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPoint2PointConstraintData btPoint2PointConstraintDoubleData
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData"
+#else
+#define btPoint2PointConstraintData btPoint2PointConstraintFloatData
+#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
struct btConstraintSetting
{
btConstraintSetting() :
@@ -35,8 +44,14 @@
btScalar m_impulseClamp;
};
+enum btPoint2PointFlags
+{
+ BT_P2P_FLAGS_ERP = 1,
+ BT_P2P_FLAGS_CFM = 2
+};
+
/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
-class btPoint2PointConstraint : public btTypedConstraint
+ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
@@ -46,8 +61,10 @@
btVector3 m_pivotInA;
btVector3 m_pivotInB;
+ int m_flags;
+ btScalar m_erp;
+ btScalar m_cfm;
-
public:
///for backwards compatibility during the transition to 'getInfo/getInfo2'
@@ -59,17 +76,17 @@
btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
- btPoint2PointConstraint();
virtual void buildJacobian();
virtual void getInfo1 (btConstraintInfo1* info);
+ void getInfo1NonVirtual (btConstraintInfo1* info);
+
virtual void getInfo2 (btConstraintInfo2* info);
+ void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
- virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
-
void updateRHS(btScalar timeStep);
void setPivotA(const btVector3& pivotA)
@@ -92,7 +109,53 @@
return m_pivotInB;
}
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+ ///If no axis is provided, it uses the default axis for this constraint.
+ virtual void setParam(int num, btScalar value, int axis = -1);
+ ///return the local value of parameter
+ virtual btScalar getParam(int num, int axis = -1) const;
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btPoint2PointConstraintFloatData
+{
+ btTypedConstraintData m_typeConstraintData;
+ btVector3FloatData m_pivotInA;
+ btVector3FloatData m_pivotInB;
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btPoint2PointConstraintDoubleData
+{
+ btTypedConstraintData m_typeConstraintData;
+ btVector3DoubleData m_pivotInA;
+ btVector3DoubleData m_pivotInB;
+};
+
+
+SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
+{
+ return sizeof(btPoint2PointConstraintData);
+
+}
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
+
+ btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
+ m_pivotInA.serialize(p2pData->m_pivotInA);
+ m_pivotInB.serialize(p2pData->m_pivotInB);
+
+ return btPoint2PointConstraintDataName;
+}
+
#endif //POINT2POINTCONSTRAINT_H
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -34,6 +34,8 @@
#include "LinearMath/btAlignedObjectArray.h"
#include <string.h> //for memset
+int gNumSplitImpulseRecoveries = 0;
+
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_btSeed2(0)
{
@@ -55,15 +57,15 @@
#endif//USE_SIMD
// Project Gauss Seidel or the equivalent Sequential Impulse
-void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
- __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.m_deltaLinearVelocity.mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.m_deltaAngularVelocity.mVec128));
- __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.m_deltaAngularVelocity.mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.m_deltaLinearVelocity.mVec128));
+ __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
+ __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@@ -76,26 +78,26 @@
__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
- __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body1.m_invMass));
- __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass));
+ __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
+ __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
- body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
- body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
- body2.m_deltaLinearVelocity.mVec128 = _mm_sub_ps(body2.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
- body2.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body2.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+ body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
+ body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
+ body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+ body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
#else
resolveSingleConstraintRowGeneric(body1,body2,c);
#endif
}
// Project Gauss Seidel or the equivalent Sequential Impulse
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
- const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
- const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity);
+ const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
+ const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
- const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
+// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@@ -114,21 +116,19 @@
{
c.m_appliedImpulse = sum;
}
- if (body1.m_invMass)
- body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
- if (body2.m_invMass)
- body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
+ body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+ body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
- __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.m_deltaLinearVelocity.mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.m_deltaAngularVelocity.mVec128));
- __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.m_deltaAngularVelocity.mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.m_deltaLinearVelocity.mVec128));
+ __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
+ __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@@ -138,24 +138,24 @@
__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
- __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body1.m_invMass));
- __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass));
+ __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
+ __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
- body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
- body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
- body2.m_deltaLinearVelocity.mVec128 = _mm_sub_ps(body2.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
- body2.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body2.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+ body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
+ body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
+ body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+ body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
#else
resolveSingleConstraintRowLowerLimit(body1,body2,c);
#endif
}
// Project Gauss Seidel or the equivalent Sequential Impulse
- void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
- const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
- const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity);
+ const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
+ const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@@ -169,14 +169,77 @@
{
c.m_appliedImpulse = sum;
}
- if (body1.m_invMass)
- body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
- if (body2.m_invMass)
- body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
+ body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+ body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
+void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly(
+ btRigidBody& body1,
+ btRigidBody& body2,
+ const btSolverConstraint& c)
+{
+ if (c.m_rhsPenetration)
+ {
+ gNumSplitImpulseRecoveries++;
+ btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
+ const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
+ const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
+ deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
+ deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
+ const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse;
+ if (sum < c.m_lowerLimit)
+ {
+ deltaImpulse = c.m_lowerLimit-c.m_appliedPushImpulse;
+ c.m_appliedPushImpulse = c.m_lowerLimit;
+ }
+ else
+ {
+ c.m_appliedPushImpulse = sum;
+ }
+ body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+ body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+ }
+}
+
+ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c)
+{
+#ifdef USE_SIMD
+ if (!c.m_rhsPenetration)
+ return;
+
+ gNumSplitImpulseRecoveries++;
+
+ __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse);
+ __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
+ __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
+ __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm)));
+ __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.internalGetPushVelocity().mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
+ __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.internalGetPushVelocity().mVec128));
+ deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
+ deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
+ btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
+ btSimdScalar resultLowerLess,resultUpperLess;
+ resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1);
+ resultUpperLess = _mm_cmplt_ps(sum,upperLimit1);
+ __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
+ deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
+ c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
+ __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
+ __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
+ __m128 impulseMagnitude = deltaImpulse;
+ body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
+ body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
+ body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+ body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+#else
+ resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
+#endif
+}
+
+
+
unsigned long btSequentialImpulseConstraintSolver::btRand2()
{
m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff;
@@ -214,30 +277,34 @@
}
-
+#if 0
void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
{
btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
- solverBody->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
- solverBody->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
+ solverBody->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
+ solverBody->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
+ solverBody->internalGetPushVelocity().setValue(0.f,0.f,0.f);
+ solverBody->internalGetTurnVelocity().setValue(0.f,0.f,0.f);
if (rb)
{
- solverBody->m_invMass = rb->getInvMass();
+ solverBody->internalGetInvMass() = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor();
solverBody->m_originalBody = rb;
solverBody->m_angularFactor = rb->getAngularFactor();
} else
{
- solverBody->m_invMass = 0.f;
+ solverBody->internalGetInvMass().setValue(0,0,0);
solverBody->m_originalBody = 0;
- solverBody->m_angularFactor = 1.f;
+ solverBody->m_angularFactor.setValue(1,1,1);
}
}
+#endif
-int gNumSplitImpulseRecoveries = 0;
+
+
btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution)
{
btScalar rest = restitution * -rel_vel;
@@ -262,27 +329,23 @@
}
-
-btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
+void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
{
btRigidBody* body0=btRigidBody::upcast(colObj0);
btRigidBody* body1=btRigidBody::upcast(colObj1);
- btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expand();
- memset(&solverConstraint,0xff,sizeof(btSolverConstraint));
solverConstraint.m_contactNormal = normalAxis;
- solverConstraint.m_solverBodyIdA = solverBodyIdA;
- solverConstraint.m_solverBodyIdB = solverBodyIdB;
- solverConstraint.m_frictionIndex = frictionIndex;
+ solverConstraint.m_solverBodyA = body0 ? body0 : &getFixedBody();
+ solverConstraint.m_solverBodyB = body1 ? body1 : &getFixedBody();
solverConstraint.m_friction = cp.m_combinedFriction;
solverConstraint.m_originalContactPoint = 0;
solverConstraint.m_appliedImpulse = 0.f;
- // solverConstraint.m_appliedPushImpulse = 0.f;
+ solverConstraint.m_appliedPushImpulse = 0.f;
{
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
@@ -337,21 +400,31 @@
rel_vel = vel1Dotn+vel2Dotn;
- btScalar positionalError = 0.f;
+// btScalar positionalError = 0.f;
- btSimdScalar velocityError = - rel_vel;
+ btSimdScalar velocityError = desiredVelocity - rel_vel;
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
- solverConstraint.m_cfm = 0.f;
+ solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
+}
+
+
+btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
+{
+ btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
+ solverConstraint.m_frictionIndex = frictionIndex;
+ setupFrictionConstraint(solverConstraint, normalAxis, solverBodyA, solverBodyB, cp, rel_pos1, rel_pos2,
+ colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
return solverConstraint;
}
int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body)
{
+#if 0
int solverBodyIdA = -1;
if (body.getCompanionId() >= 0)
@@ -373,70 +446,36 @@
}
}
return solverBodyIdA;
+#endif
+ return 0;
}
#include <stdio.h>
-
-void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
+void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint,
+ btCollisionObject* colObj0, btCollisionObject* colObj1,
+ btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
+ btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
+ btVector3& rel_pos1, btVector3& rel_pos2)
{
- btCollisionObject* colObj0=0,*colObj1=0;
+ btRigidBody* rb0 = btRigidBody::upcast(colObj0);
+ btRigidBody* rb1 = btRigidBody::upcast(colObj1);
- colObj0 = (btCollisionObject*)manifold->getBody0();
- colObj1 = (btCollisionObject*)manifold->getBody1();
-
- int solverBodyIdA=-1;
- int solverBodyIdB=-1;
-
- if (manifold->getNumContacts())
- {
- solverBodyIdA = getOrInitSolverBody(*colObj0);
- solverBodyIdB = getOrInitSolverBody(*colObj1);
- }
-
- ///avoid collision response between two static objects
- if (!solverBodyIdA && !solverBodyIdB)
- return;
-
- btVector3 rel_pos1;
- btVector3 rel_pos2;
- btScalar relaxation;
-
- for (int j=0;j<manifold->getNumContacts();j++)
- {
-
- btManifoldPoint& cp = manifold->getContactPoint(j);
-
- if (cp.getDistance() <= manifold->getContactProcessingThreshold())
- {
-
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
+// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
+// btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
-
relaxation = 1.f;
- btScalar rel_vel;
- btVector3 vel;
- int frictionIndex = m_tmpSolverContactConstraintPool.size();
+ btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
+ solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
+ btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
+ solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
- {
- btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expand();
- btRigidBody* rb0 = btRigidBody::upcast(colObj0);
- btRigidBody* rb1 = btRigidBody::upcast(colObj1);
-
- solverConstraint.m_solverBodyIdA = solverBodyIdA;
- solverConstraint.m_solverBodyIdB = solverBodyIdB;
-
- solverConstraint.m_originalContactPoint = &cp;
-
- btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
- solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
- btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
- solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
{
#ifdef COMPUTE_IMPULSE_DENOM
btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
@@ -466,12 +505,12 @@
solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(-cp.m_normalWorldOnB);
- btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
- btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
- vel = vel1 - vel2;
- rel_vel = cp.m_normalWorldOnB.dot(vel);
+ btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
+ btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
+ vel = vel1 - vel2;
+ rel_vel = cp.m_normalWorldOnB.dot(vel);
btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
@@ -498,15 +537,15 @@
{
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (rb0)
- m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
+ rb0->internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
if (rb1)
- m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
+ rb1->internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
} else
{
solverConstraint.m_appliedImpulse = 0.f;
}
- // solverConstraint.m_appliedPushImpulse = 0.f;
+ solverConstraint.m_appliedPushImpulse = 0.f;
{
btScalar rel_vel;
@@ -522,63 +561,33 @@
btScalar velocityError = restitution - rel_vel;// * damping;
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
- solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+ if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
+ {
+ //combine position and velocity into rhs
+ solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+ solverConstraint.m_rhsPenetration = 0.f;
+ } else
+ {
+ //split position and velocity into rhs and m_rhsPenetration
+ solverConstraint.m_rhs = velocityImpulse;
+ solverConstraint.m_rhsPenetration = penetrationImpulse;
+ }
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
- /////setup the friction constraints
+}
- if (1)
- {
- solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
- if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
- {
- cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
- btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
- if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
- {
- cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
- applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
- applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
- addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
- if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
- {
- cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
- cp.m_lateralFrictionDir2.normalize();//??
- applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
- applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
- addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
- }
- cp.m_lateralFrictionInitialized = true;
- } else
- {
- //re-calculate friction direction every frame, todo: check if this is really needed
- btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
- applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
- applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
- addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
- if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
- {
- applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
- applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
- addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
- }
- cp.m_lateralFrictionInitialized = true;
- }
- } else
- {
- addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
- if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
- addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
- }
-
+void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint,
+ btRigidBody* rb0, btRigidBody* rb1,
+ btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
+{
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{
{
@@ -587,9 +596,9 @@
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
- m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
+ rb0->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
if (rb1)
- m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
+ rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;
@@ -603,9 +612,9 @@
{
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
if (rb0)
- m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
+ rb0->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
if (rb1)
- m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
+ rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
} else
{
frictionConstraint2.m_appliedImpulse = 0.f;
@@ -621,16 +630,109 @@
frictionConstraint2.m_appliedImpulse = 0.f;
}
}
+}
+
+
+
+
+void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
+{
+ btCollisionObject* colObj0=0,*colObj1=0;
+
+ colObj0 = (btCollisionObject*)manifold->getBody0();
+ colObj1 = (btCollisionObject*)manifold->getBody1();
+
+
+ btRigidBody* solverBodyA = btRigidBody::upcast(colObj0);
+ btRigidBody* solverBodyB = btRigidBody::upcast(colObj1);
+
+ ///avoid collision response between two static objects
+ if ((!solverBodyA || !solverBodyA->getInvMass()) && (!solverBodyB || !solverBodyB->getInvMass()))
+ return;
+
+ for (int j=0;j<manifold->getNumContacts();j++)
+ {
+
+ btManifoldPoint& cp = manifold->getContactPoint(j);
+
+ if (cp.getDistance() <= manifold->getContactProcessingThreshold())
+ {
+ btVector3 rel_pos1;
+ btVector3 rel_pos2;
+ btScalar relaxation;
+ btScalar rel_vel;
+ btVector3 vel;
+
+ int frictionIndex = m_tmpSolverContactConstraintPool.size();
+ btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
+ btRigidBody* rb0 = btRigidBody::upcast(colObj0);
+ btRigidBody* rb1 = btRigidBody::upcast(colObj1);
+ solverConstraint.m_solverBodyA = rb0? rb0 : &getFixedBody();
+ solverConstraint.m_solverBodyB = rb1? rb1 : &getFixedBody();
+ solverConstraint.m_originalContactPoint = &cp;
+
+ setupContactConstraint(solverConstraint, colObj0, colObj1, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
+
+// const btVector3& pos1 = cp.getPositionWorldOnA();
+// const btVector3& pos2 = cp.getPositionWorldOnB();
+
+ /////setup the friction constraints
+
+ solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
+
+ if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
+ {
+ cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
+ btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
+ if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
+ {
+ cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
+ if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+ {
+ cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
+ cp.m_lateralFrictionDir2.normalize();//??
+ applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+ applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
+ addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+ }
+
+ applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+ applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+ addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+ cp.m_lateralFrictionInitialized = true;
+ } else
+ {
+ //re-calculate friction direction every frame, todo: check if this is really needed
+ btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+ if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+ {
+ applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+ applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
+ addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+ }
+
+ applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+ applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+ addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
+
+ cp.m_lateralFrictionInitialized = true;
}
+
+ } else
+ {
+ addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1);
+ if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+ addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
}
+
+ setFrictionConstraintImpulse( solverConstraint, rb0, rb1, cp, infoGlobal);
-
}
}
}
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
@@ -643,6 +745,33 @@
return 0.f;
}
+ if (infoGlobal.m_splitImpulse)
+ {
+ for (int i = 0; i < numBodies; i++)
+ {
+ btRigidBody* body = btRigidBody::upcast(bodies[i]);
+ if (body)
+ {
+ body->internalGetDeltaLinearVelocity().setZero();
+ body->internalGetDeltaAngularVelocity().setZero();
+ body->internalGetPushVelocity().setZero();
+ body->internalGetTurnVelocity().setZero();
+ }
+ }
+ }
+ else
+ {
+ for (int i = 0; i < numBodies; i++)
+ {
+ btRigidBody* body = btRigidBody::upcast(bodies[i]);
+ if (body)
+ {
+ body->internalGetDeltaLinearVelocity().setZero();
+ body->internalGetDeltaAngularVelocity().setZero();
+ }
+ }
+ }
+
if (1)
{
int j;
@@ -652,10 +781,6 @@
constraint->buildJacobian();
}
}
-
- btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
- initSolverBody(&fixedBody,0);
-
//btRigidBody* rb0=0,*rb1=0;
//if (1)
@@ -664,26 +789,25 @@
int totalNumRows = 0;
int i;
+
+ m_tmpConstraintSizesPool.resize(numConstraints);
//calculate the total number of contraint rows
for (i=0;i<numConstraints;i++)
{
-
- btTypedConstraint::btConstraintInfo1 info1;
+ btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
constraints[i]->getInfo1(&info1);
totalNumRows += info1.m_numConstraintRows;
}
m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
- btTypedConstraint::btConstraintInfo1 info1;
- info1.m_numConstraintRows = 0;
-
-
+
///setup the btSolverConstraints
int currentRow = 0;
- for (i=0;i<numConstraints;i++,currentRow+=info1.m_numConstraintRows)
+ for (i=0;i<numConstraints;i++)
{
- constraints[i]->getInfo1(&info1);
+ const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+
if (info1.m_numConstraintRows)
{
btAssert(currentRow<totalNumRows);
@@ -696,12 +820,7 @@
btRigidBody& rbA = constraint->getRigidBodyA();
btRigidBody& rbB = constraint->getRigidBodyB();
- int solverBodyIdA = getOrInitSolverBody(rbA);
- int solverBodyIdB = getOrInitSolverBody(rbB);
-
- btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
- btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
-
+
int j;
for ( j=0;j<info1.m_numConstraintRows;j++)
{
@@ -710,14 +829,14 @@
currentConstraintRow[j].m_upperLimit = FLT_MAX;
currentConstraintRow[j].m_appliedImpulse = 0.f;
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
- currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
- currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
+ currentConstraintRow[j].m_solverBodyA = &rbA;
+ currentConstraintRow[j].m_solverBodyB = &rbB;
}
- bodyAPtr->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
- bodyAPtr->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
- bodyBPtr->m_deltaLinearVelocity.setValue(0.f,0.f,0.f);
- bodyBPtr->m_deltaAngularVelocity.setValue(0.f,0.f,0.f);
+ rbA.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
+ rbA.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
+ rbB.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
+ rbB.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f);
@@ -732,15 +851,19 @@
///the size of btSolverConstraint needs be a multiple of btScalar
btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
info2.m_constraintError = ¤tConstraintRow->m_rhs;
+ currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
+ info2.m_damping = infoGlobal.m_damping;
info2.cfm = ¤tConstraintRow->m_cfm;
info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit;
info2.m_upperLimit = ¤tConstraintRow->m_upperLimit;
+ info2.m_numIterations = infoGlobal.m_numIterations;
constraints[i]->getInfo2(&info2);
///finalize the constraint setup
for ( j=0;j<info1.m_numConstraintRows;j++)
{
btSolverConstraint& solverConstraint = currentConstraintRow[j];
+ solverConstraint.m_originalContactPoint = constraint;
{
const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
@@ -777,7 +900,7 @@
btScalar restitution = 0.f;
btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
- btScalar velocityError = restitution - rel_vel;// * damping;
+ btScalar velocityError = restitution - rel_vel * info2.m_damping;
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
@@ -786,13 +909,14 @@
}
}
}
+ currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
}
}
{
int i;
btPersistentManifold* manifold = 0;
- btCollisionObject* colObj0=0,*colObj1=0;
+// btCollisionObject* colObj0=0,*colObj1=0;
for (i=0;i<numManifolds;i++)
@@ -829,152 +953,173 @@
}
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
+btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
{
- BT_PROFILE("solveGroupCacheFriendlyIterations");
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
- //should traverse the contacts random order...
- int iteration;
+ int j;
+
+ if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
{
- for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
- {
+ if ((iteration & 7) == 0) {
+ for (j=0; j<numConstraintPool; ++j) {
+ int tmp = m_orderTmpConstraintPool[j];
+ int swapi = btRandInt2(j+1);
+ m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
+ m_orderTmpConstraintPool[swapi] = tmp;
+ }
- int j;
- if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
+ for (j=0; j<numFrictionPool; ++j) {
+ int tmp = m_orderFrictionConstraintPool[j];
+ int swapi = btRandInt2(j+1);
+ m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
+ m_orderFrictionConstraintPool[swapi] = tmp;
+ }
+ }
+ }
+
+ if (infoGlobal.m_solverMode & SOLVER_SIMD)
+ {
+ ///solve all joint constraints, using SIMD, if available
+ for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+ {
+ btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
+ resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
+ }
+
+ for (j=0;j<numConstraints;j++)
+ {
+ constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
+ }
+
+ ///solve all contact constraints using SIMD, if available
+ int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+ for (j=0;j<numPoolConstraints;j++)
+ {
+ const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+ resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+
+ }
+ ///solve all friction constraints, using SIMD, if available
+ int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+ for (j=0;j<numFrictionPoolConstraints;j++)
+ {
+ btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+ btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+
+ if (totalImpulse>btScalar(0))
{
- if ((iteration & 7) == 0) {
- for (j=0; j<numConstraintPool; ++j) {
- int tmp = m_orderTmpConstraintPool[j];
- int swapi = btRandInt2(j+1);
- m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
- m_orderTmpConstraintPool[swapi] = tmp;
- }
+ solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+ solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
- for (j=0; j<numFrictionPool; ++j) {
- int tmp = m_orderFrictionConstraintPool[j];
- int swapi = btRandInt2(j+1);
- m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
- m_orderFrictionConstraintPool[swapi] = tmp;
- }
- }
+ resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA, *solveManifold.m_solverBodyB,solveManifold);
}
+ }
+ } else
+ {
- if (infoGlobal.m_solverMode & SOLVER_SIMD)
+ ///solve all joint constraints
+ for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+ {
+ btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
+ resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
+ }
+
+ for (j=0;j<numConstraints;j++)
+ {
+ constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
+ }
+ ///solve all contact constraints
+ int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+ for (j=0;j<numPoolConstraints;j++)
+ {
+ const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+ resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+ }
+ ///solve all friction constraints
+ int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+ for (j=0;j<numFrictionPoolConstraints;j++)
+ {
+ btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+ btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+
+ if (totalImpulse>btScalar(0))
{
- ///solve all joint constraints, using SIMD, if available
- for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
- {
- btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
- resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
- }
+ solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+ solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
- for (j=0;j<numConstraints;j++)
- {
- int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
- int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
- btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
- btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
- constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
- }
+ resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
+ }
+ }
+ }
+ return 0.f;
+}
- ///solve all contact constraints using SIMD, if available
- int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
- for (j=0;j<numPoolConstraints;j++)
- {
- const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
- resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- }
- ///solve all friction constraints, using SIMD, if available
- int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
- for (j=0;j<numFrictionPoolConstraints;j++)
+void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+{
+ int iteration;
+ if (infoGlobal.m_splitImpulse)
+ {
+ if (infoGlobal.m_solverMode & SOLVER_SIMD)
+ {
+ for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
+ {
{
- btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
- btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
- if (totalImpulse>btScalar(0))
+ int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+ int j;
+ for (j=0;j<numPoolConstraints;j++)
{
- solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
- solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+ const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
- resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+ resolveSplitPenetrationSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
}
}
- } else
+ }
+ }
+ else
+ {
+ for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
{
-
- ///solve all joint constraints
- for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
{
- btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j];
- resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
- }
-
- for (j=0;j<numConstraints;j++)
- {
- int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
- int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
- btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
- btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-
- constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
- }
-
- ///solve all contact constraints
- int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
- for (j=0;j<numPoolConstraints;j++)
- {
- const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
- resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- }
- ///solve all friction constraints
- int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
- for (j=0;j<numFrictionPoolConstraints;j++)
- {
- btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
- btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
- if (totalImpulse>btScalar(0))
+ int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+ int j;
+ for (j=0;j<numPoolConstraints;j++)
{
- solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
- solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+ const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
- resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+ resolveSplitPenetrationImpulseCacheFriendly(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
}
}
}
+ }
+ }
+}
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
+{
+ BT_PROFILE("solveGroupCacheFriendlyIterations");
-
+
+ //should traverse the contacts random order...
+ int iteration;
+ {
+ for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
+ {
+ solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}
+
+ solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}
return 0.f;
}
-
-
-/// btSequentialImpulseConstraintSolver Sequentially applies impulses
-btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** /*constraints*/,int /* numConstraints*/,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
{
-
-
-
- BT_PROFILE("solveGroup");
- //we only implement SOLVER_CACHE_FRIENDLY now
- //you need to provide at least some bodies
- btAssert(bodies);
- btAssert(numBodies);
-
- int i;
-
- solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
- solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
-
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
- int j;
+ int i,j;
for (j=0;j<numPoolConstraints;j++)
{
@@ -992,22 +1137,36 @@
//do a callback here?
}
+ numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
+ for (j=0;j<numPoolConstraints;j++)
+ {
+ const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
+ btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
+ btScalar sum = constr->internalGetAppliedImpulse();
+ sum += solverConstr.m_appliedImpulse;
+ constr->internalSetAppliedImpulse(sum);
+ }
+
+
if (infoGlobal.m_splitImpulse)
{
- for ( i=0;i<m_tmpSolverBodyPool.size();i++)
+ for ( i=0;i<numBodies;i++)
{
- m_tmpSolverBodyPool[i].writebackVelocity(infoGlobal.m_timeStep);
+ btRigidBody* body = btRigidBody::upcast(bodies[i]);
+ if (body)
+ body->internalWritebackVelocity(infoGlobal.m_timeStep);
}
} else
{
- for ( i=0;i<m_tmpSolverBodyPool.size();i++)
+ for ( i=0;i<numBodies;i++)
{
- m_tmpSolverBodyPool[i].writebackVelocity();
+ btRigidBody* body = btRigidBody::upcast(bodies[i]);
+ if (body)
+ body->internalWritebackVelocity();
}
}
- m_tmpSolverBodyPool.resize(0);
m_tmpSolverContactConstraintPool.resize(0);
m_tmpSolverNonContactConstraintPool.resize(0);
m_tmpSolverContactFrictionConstraintPool.resize(0);
@@ -1017,15 +1176,33 @@
+/// btSequentialImpulseConstraintSolver Sequentially applies impulses
+btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
+{
+ BT_PROFILE("solveGroup");
+ //you need to provide at least some bodies
+ btAssert(bodies);
+ btAssert(numBodies);
+ solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
+ solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
+ solveGroupCacheFriendlyFinish(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
+
+ return 0.f;
+}
-
void btSequentialImpulseConstraintSolver::reset()
{
m_btSeed2 = 0;
}
+btRigidBody& btSequentialImpulseConstraintSolver::getFixedBody()
+{
+ static btRigidBody s_fixed(0, 0,0);
+ s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+ return s_fixed;
+}
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -21,48 +21,76 @@
#include "btContactConstraint.h"
#include "btSolverBody.h"
#include "btSolverConstraint.h"
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
- btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btConstraintArray m_tmpSolverContactConstraintPool;
btConstraintArray m_tmpSolverNonContactConstraintPool;
btConstraintArray m_tmpSolverContactFrictionConstraintPool;
btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
+ btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
- btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
+ void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
+ btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
+ btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
+ btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+
+ btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+ void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp,
+ const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
+ btVector3& rel_pos1, btVector3& rel_pos2);
+
+ void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1,
+ btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
+
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;
- void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
+// void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
+
+ void resolveSplitPenetrationSIMD(
+ btRigidBody& body1,
+ btRigidBody& body2,
+ const btSolverConstraint& contactConstraint);
+
void resolveSplitPenetrationImpulseCacheFriendly(
- btSolverBody& body1,
- btSolverBody& body2,
- const btSolverConstraint& contactConstraint,
- const btContactSolverInfo& solverInfo);
+ btRigidBody& body1,
+ btRigidBody& body2,
+ const btSolverConstraint& contactConstraint);
//internal method
int getOrInitSolverBody(btCollisionObject& body);
- void resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+ void resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
- void resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+ void resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
- void resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+ void resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
- void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+ void resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
+protected:
+ static btRigidBody& getFixedBody();
+
+ virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+ virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+ btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
+ virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+ virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
+
public:
@@ -71,9 +99,8 @@
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
- btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
- btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
///clear internal cached data and reset random seed
virtual void reset();
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -18,14 +18,14 @@
April 04, 2008
*/
-//-----------------------------------------------------------------------------
+
#include "btSliderConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include <new>
-//-----------------------------------------------------------------------------
+#define USE_OFFSET_FOR_CONSTANT_FRAME true
void btSliderConstraint::initParams()
{
@@ -36,21 +36,27 @@
m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingDirLin = btScalar(0.);
+ m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingDirAng = btScalar(0.);
+ m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+ m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
+ m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
+ m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
+ m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
m_poweredLinMotor = false;
m_targetLinMotorVelocity = btScalar(0.);
@@ -62,145 +68,250 @@
m_maxAngMotorForce = btScalar(0.);
m_accumulatedAngMotorImpulse = btScalar(0.0);
-} // btSliderConstraint::initParams()
+ m_flags = 0;
+ m_flags = 0;
-//-----------------------------------------------------------------------------
+ m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME;
-btSliderConstraint::btSliderConstraint()
- :btTypedConstraint(SLIDER_CONSTRAINT_TYPE),
- m_useLinearReferenceFrameA(true),
- m_useSolveConstraintObsolete(false)
-// m_useSolveConstraintObsolete(true)
+ calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+}
+
+
+
+
+
+btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
+ : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB),
+ m_useSolveConstraintObsolete(false),
+ m_frameInA(frameInA),
+ m_frameInB(frameInB),
+ m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
initParams();
-} // btSliderConstraint::btSliderConstraint()
+}
-//-----------------------------------------------------------------------------
-btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
- : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB)
- , m_frameInA(frameInA)
- , m_frameInB(frameInB),
- m_useLinearReferenceFrameA(useLinearReferenceFrameA),
- m_useSolveConstraintObsolete(false)
-// m_useSolveConstraintObsolete(true)
+
+btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
+ : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB),
+ m_useSolveConstraintObsolete(false),
+ m_frameInB(frameInB),
+ m_useLinearReferenceFrameA(useLinearReferenceFrameA)
{
+ ///not providing rigidbody A means implicitly using worldspace for body A
+ m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
+// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin());
+
initParams();
-} // btSliderConstraint::btSliderConstraint()
+}
-//-----------------------------------------------------------------------------
-void btSliderConstraint::buildJacobian()
+
+
+
+
+void btSliderConstraint::getInfo1(btConstraintInfo1* info)
{
- if (!m_useSolveConstraintObsolete)
+ if (m_useSolveConstraintObsolete)
{
- return;
+ info->m_numConstraintRows = 0;
+ info->nub = 0;
}
- if(m_useLinearReferenceFrameA)
- {
- buildJacobianInt(m_rbA, m_rbB, m_frameInA, m_frameInB);
- }
else
{
- buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA);
+ info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
+ info->nub = 2;
+ //prepare constraint
+ calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
+ testAngLimits();
+ testLinLimits();
+ if(getSolveLinLimit() || getPoweredLinMotor())
+ {
+ info->m_numConstraintRows++; // limit 3rd linear as well
+ info->nub--;
+ }
+ if(getSolveAngLimit() || getPoweredAngMotor())
+ {
+ info->m_numConstraintRows++; // limit 3rd angular as well
+ info->nub--;
+ }
}
-} // btSliderConstraint::buildJacobian()
+}
-//-----------------------------------------------------------------------------
+void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
+{
-void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
+ info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
+ info->nub = 0;
+}
+
+void btSliderConstraint::getInfo2(btConstraintInfo2* info)
{
- //calculate transforms
- m_calculatedTransformA = rbA.getCenterOfMassTransform() * frameInA;
- m_calculatedTransformB = rbB.getCenterOfMassTransform() * frameInB;
+ getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass());
+}
+
+
+
+
+
+
+
+void btSliderConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
+{
+ if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
+ {
+ m_calculatedTransformA = transA * m_frameInA;
+ m_calculatedTransformB = transB * m_frameInB;
+ }
+ else
+ {
+ m_calculatedTransformA = transB * m_frameInB;
+ m_calculatedTransformB = transA * m_frameInA;
+ }
m_realPivotAInW = m_calculatedTransformA.getOrigin();
m_realPivotBInW = m_calculatedTransformB.getOrigin();
m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
- m_delta = m_realPivotBInW - m_realPivotAInW;
+ if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
+ {
+ m_delta = m_realPivotBInW - m_realPivotAInW;
+ }
+ else
+ {
+ m_delta = m_realPivotAInW - m_realPivotBInW;
+ }
m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
- m_relPosA = m_projPivotInW - rbA.getCenterOfMassPosition();
- m_relPosB = m_realPivotBInW - rbB.getCenterOfMassPosition();
btVector3 normalWorld;
int i;
//linear part
for(i = 0; i < 3; i++)
{
normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
- new (&m_jacLin[i]) btJacobianEntry(
- rbA.getCenterOfMassTransform().getBasis().transpose(),
- rbB.getCenterOfMassTransform().getBasis().transpose(),
- m_relPosA,
- m_relPosB,
- normalWorld,
- rbA.getInvInertiaDiagLocal(),
- rbA.getInvMass(),
- rbB.getInvInertiaDiagLocal(),
- rbB.getInvMass()
- );
- m_jacLinDiagABInv[i] = btScalar(1.) / m_jacLin[i].getDiagonal();
m_depth[i] = m_delta.dot(normalWorld);
}
- testLinLimits();
- // angular part
- for(i = 0; i < 3; i++)
- {
- normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
- new (&m_jacAng[i]) btJacobianEntry(
- normalWorld,
- rbA.getCenterOfMassTransform().getBasis().transpose(),
- rbB.getCenterOfMassTransform().getBasis().transpose(),
- rbA.getInvInertiaDiagLocal(),
- rbB.getInvInertiaDiagLocal()
- );
- }
- testAngLimits();
- btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
- m_kAngle = btScalar(1.0 )/ (rbA.computeAngularImpulseDenominator(axisA) + rbB.computeAngularImpulseDenominator(axisA));
- // clear accumulator for motors
- m_accumulatedLinMotorImpulse = btScalar(0.0);
- m_accumulatedAngMotorImpulse = btScalar(0.0);
-} // btSliderConstraint::buildJacobianInt()
+}
+
-//-----------------------------------------------------------------------------
-void btSliderConstraint::getInfo1(btConstraintInfo1* info)
+void btSliderConstraint::testLinLimits(void)
{
- if (m_useSolveConstraintObsolete)
+ m_solveLinLim = false;
+ m_linPos = m_depth[0];
+ if(m_lowerLinLimit <= m_upperLinLimit)
{
- info->m_numConstraintRows = 0;
- info->nub = 0;
+ if(m_depth[0] > m_upperLinLimit)
+ {
+ m_depth[0] -= m_upperLinLimit;
+ m_solveLinLim = true;
+ }
+ else if(m_depth[0] < m_lowerLinLimit)
+ {
+ m_depth[0] -= m_lowerLinLimit;
+ m_solveLinLim = true;
+ }
+ else
+ {
+ m_depth[0] = btScalar(0.);
+ }
}
else
{
- info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
- info->nub = 2;
- //prepare constraint
- calculateTransforms();
- testLinLimits();
- if(getSolveLinLimit() || getPoweredLinMotor())
+ m_depth[0] = btScalar(0.);
+ }
+}
+
+
+
+void btSliderConstraint::testAngLimits(void)
+{
+ m_angDepth = btScalar(0.);
+ m_solveAngLim = false;
+ if(m_lowerAngLimit <= m_upperAngLimit)
+ {
+ const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
+ const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
+ const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
+// btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
+ btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0));
+ rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit);
+ m_angPos = rot;
+ if(rot < m_lowerAngLimit)
{
- info->m_numConstraintRows++; // limit 3rd linear as well
- info->nub--;
- }
- testAngLimits();
- if(getSolveAngLimit() || getPoweredAngMotor())
+ m_angDepth = rot - m_lowerAngLimit;
+ m_solveAngLim = true;
+ }
+ else if(rot > m_upperAngLimit)
{
- info->m_numConstraintRows++; // limit 3rd angular as well
- info->nub--;
+ m_angDepth = rot - m_upperAngLimit;
+ m_solveAngLim = true;
}
}
-} // btSliderConstraint::getInfo1()
+}
-//-----------------------------------------------------------------------------
+btVector3 btSliderConstraint::getAncorInA(void)
+{
+ btVector3 ancorInA;
+ ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
+ ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
+ return ancorInA;
+}
-void btSliderConstraint::getInfo2(btConstraintInfo2* info)
+
+
+btVector3 btSliderConstraint::getAncorInB(void)
{
+ btVector3 ancorInB;
+ ancorInB = m_frameInB.getOrigin();
+ return ancorInB;
+}
+
+
+void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass )
+{
+ const btTransform& trA = getCalculatedTransformA();
+ const btTransform& trB = getCalculatedTransformB();
+
btAssert(!m_useSolveConstraintObsolete);
int i, s = info->rowskip;
- const btTransform& trA = getCalculatedTransformA();
- const btTransform& trB = getCalculatedTransformB();
+
btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f);
- // make rotations around Y and Z equal
+
+ // difference between frames in WCS
+ btVector3 ofs = trB.getOrigin() - trA.getOrigin();
+ // now get weight factors depending on masses
+ btScalar miA = rbAinvMass;
+ btScalar miB = rbBinvMass;
+ bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
+ btScalar miS = miA + miB;
+ btScalar factA, factB;
+ if(miS > btScalar(0.f))
+ {
+ factA = miB / miS;
+ }
+ else
+ {
+ factA = btScalar(0.5f);
+ }
+ factB = btScalar(1.0f) - factA;
+ btVector3 ax1, p, q;
+ btVector3 ax1A = trA.getBasis().getColumn(0);
+ btVector3 ax1B = trB.getBasis().getColumn(0);
+ if(m_useOffsetForConstraintFrame)
+ {
+ // get the desired direction of slider axis
+ // as weighted sum of X-orthos of frameA and frameB in WCS
+ ax1 = ax1A * factA + ax1B * factB;
+ ax1.normalize();
+ // construct two orthos to slider axis
+ btPlaneSpace1 (ax1, p, q);
+ }
+ else
+ { // old way - use frameA
+ ax1 = trA.getBasis().getColumn(0);
+ // get 2 orthos to slider axis (Y, Z)
+ p = trA.getBasis().getColumn(1);
+ q = trA.getBasis().getColumn(2);
+ }
+ // make rotations around these orthos equal
// the slider axis should be the only unconstrained
// rotational axis, the angular velocity of the two bodies perpendicular to
// the slider axis should be equal. thus the constraint equations are
@@ -208,12 +319,6 @@
// q*w1 - q*w2 = 0
// where p and q are unit vectors normal to the slider axis, and w1 and w2
// are the angular velocity vectors of the two bodies.
- // get slider axis (X)
- btVector3 ax1 = trA.getBasis().getColumn(0);
- // get 2 orthos to slider axis (Y, Z)
- btVector3 p = trA.getBasis().getColumn(1);
- btVector3 q = trA.getBasis().getColumn(2);
- // set the two slider rows
info->m_J1angularAxis[0] = p[0];
info->m_J1angularAxis[1] = p[1];
info->m_J1angularAxis[2] = p[2];
@@ -229,8 +334,8 @@
info->m_J2angularAxis[s+2] = -q[2];
// compute the right hand side of the constraint equation. set relative
// body velocities along p and q to bring the slider back into alignment.
- // if ax1,ax2 are the unit length slider axes as computed from body1 and
- // body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
+ // if ax1A,ax1B are the unit length slider axes as computed from bodyA and
+ // bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
// if "theta" is the angle between ax1 and ax2, we need an angular velocity
// along u to cover angle erp*theta in one step :
// |angular_velocity| = angle/time = erp*theta / stepsize
@@ -242,64 +347,126 @@
// angular_velocity = (erp*fps) * (ax1 x ax2)
// ax1 x ax2 is in the plane space of ax1, so we project the angular
// velocity to p and q to find the right hand side.
- btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
- btVector3 ax2 = trB.getBasis().getColumn(0);
- btVector3 u = ax1.cross(ax2);
+// btScalar k = info->fps * info->erp * getSoftnessOrthoAng();
+ btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp;
+ btScalar k = info->fps * currERP;
+
+ btVector3 u = ax1A.cross(ax1B);
info->m_constraintError[0] = k * u.dot(p);
info->m_constraintError[s] = k * u.dot(q);
- // pull out pos and R for both bodies. also get the connection
- // vector c = pos2-pos1.
- // next two rows. we want: vel2 = vel1 + w1 x c ... but this would
- // result in three equations, so we project along the planespace vectors
- // so that sliding along the slider axis is disregarded. for symmetry we
- // also consider rotation around center of mass of two bodies (factA and factB).
- btTransform bodyA_trans = m_rbA.getCenterOfMassTransform();
- btTransform bodyB_trans = m_rbB.getCenterOfMassTransform();
- int s2 = 2 * s, s3 = 3 * s;
- btVector3 c;
- btScalar miA = m_rbA.getInvMass();
- btScalar miB = m_rbB.getInvMass();
- btScalar miS = miA + miB;
- btScalar factA, factB;
- if(miS > btScalar(0.f))
+ if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG)
{
- factA = miB / miS;
+ info->cfm[0] = m_cfmOrthoAng;
+ info->cfm[s] = m_cfmOrthoAng;
}
- else
+
+ int nrow = 1; // last filled row
+ int srow;
+ btScalar limit_err;
+ int limit;
+ int powered;
+
+ // next two rows.
+ // we want: velA + wA x relA == velB + wB x relB ... but this would
+ // result in three equations, so we project along two orthos to the slider axis
+
+ btTransform bodyA_trans = transA;
+ btTransform bodyB_trans = transB;
+ nrow++;
+ int s2 = nrow * s;
+ nrow++;
+ int s3 = nrow * s;
+ btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0);
+ if(m_useOffsetForConstraintFrame)
{
- factA = btScalar(0.5f);
+ // get vector from bodyB to frameB in WCS
+ relB = trB.getOrigin() - bodyB_trans.getOrigin();
+ // get its projection to slider axis
+ btVector3 projB = ax1 * relB.dot(ax1);
+ // get vector directed from bodyB to slider axis (and orthogonal to it)
+ btVector3 orthoB = relB - projB;
+ // same for bodyA
+ relA = trA.getOrigin() - bodyA_trans.getOrigin();
+ btVector3 projA = ax1 * relA.dot(ax1);
+ btVector3 orthoA = relA - projA;
+ // get desired offset between frames A and B along slider axis
+ btScalar sliderOffs = m_linPos - m_depth[0];
+ // desired vector from projection of center of bodyA to projection of center of bodyB to slider axis
+ btVector3 totalDist = projA + ax1 * sliderOffs - projB;
+ // get offset vectors relA and relB
+ relA = orthoA + totalDist * factA;
+ relB = orthoB - totalDist * factB;
+ // now choose average ortho to slider axis
+ p = orthoB * factA + orthoA * factB;
+ btScalar len2 = p.length2();
+ if(len2 > SIMD_EPSILON)
+ {
+ p /= btSqrt(len2);
+ }
+ else
+ {
+ p = trA.getBasis().getColumn(1);
+ }
+ // make one more ortho
+ q = ax1.cross(p);
+ // fill two rows
+ tmpA = relA.cross(p);
+ tmpB = relB.cross(p);
+ for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i];
+ tmpA = relA.cross(q);
+ tmpB = relB.cross(q);
+ if(hasStaticBody && getSolveAngLimit())
+ { // to make constraint between static and dynamic objects more rigid
+ // remove wA (or wB) from equation if angular limit is hit
+ tmpB *= factB;
+ tmpA *= factA;
+ }
+ for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = tmpA[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
+ for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
+ for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
}
- if(factA > 0.99f) factA = 0.99f;
- if(factA < 0.01f) factA = 0.01f;
- factB = btScalar(1.0f) - factA;
- c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
- btVector3 tmp = c.cross(p);
- for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
- for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
- tmp = c.cross(q);
- for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
- for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
+ else
+ { // old way - maybe incorrect if bodies are not on the slider axis
+ // see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0
+ c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin();
+ btVector3 tmp = c.cross(p);
+ for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i];
+ tmp = c.cross(q);
+ for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i];
+ for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i];
- for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
- for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
- // compute two elements of right hand side. we want to align the offset
- // point (in body 2's frame) with the center of body 1.
- btVector3 ofs; // offset point in global coordinates
- ofs = trB.getOrigin() - trA.getOrigin();
- k = info->fps * info->erp * getSoftnessOrthoLin();
- info->m_constraintError[s2] = k * p.dot(ofs);
- info->m_constraintError[s3] = k * q.dot(ofs);
- int nrow = 3; // last filled row
- int srow;
- // check linear limits linear
- btScalar limit_err = btScalar(0.0);
- int limit = 0;
+ for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
+ for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
+ }
+ // compute two elements of right hand side
+
+ // k = info->fps * info->erp * getSoftnessOrthoLin();
+ currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp;
+ k = info->fps * currERP;
+
+ btScalar rhs = k * p.dot(ofs);
+ info->m_constraintError[s2] = rhs;
+ rhs = k * q.dot(ofs);
+ info->m_constraintError[s3] = rhs;
+ if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN)
+ {
+ info->cfm[s2] = m_cfmOrthoLin;
+ info->cfm[s3] = m_cfmOrthoLin;
+ }
+
+
+ // check linear limits
+ limit_err = btScalar(0.0);
+ limit = 0;
if(getSolveLinLimit())
{
limit_err = getLinDepth() * signFact;
limit = (limit_err > btScalar(0.0)) ? 2 : 1;
}
- int powered = 0;
+ powered = 0;
if(getPoweredLinMotor())
{
powered = 1;
@@ -319,16 +486,32 @@
// constraint force is applied at must lie along the same ax1 axis.
// a torque couple will result in limited slider-jointed free
// bodies from gaining angular momentum.
- // the solution used here is to apply the constraint forces at the center of mass of the two bodies
- btVector3 ltd; // Linear Torque Decoupling vector (a torque)
-// c = btScalar(0.5) * c;
- ltd = c.cross(ax1);
- info->m_J1angularAxis[srow+0] = factA*ltd[0];
- info->m_J1angularAxis[srow+1] = factA*ltd[1];
- info->m_J1angularAxis[srow+2] = factA*ltd[2];
- info->m_J2angularAxis[srow+0] = factB*ltd[0];
- info->m_J2angularAxis[srow+1] = factB*ltd[1];
- info->m_J2angularAxis[srow+2] = factB*ltd[2];
+ if(m_useOffsetForConstraintFrame)
+ {
+ // this is needed only when bodyA and bodyB are both dynamic.
+ if(!hasStaticBody)
+ {
+ tmpA = relA.cross(ax1);
+ tmpB = relB.cross(ax1);
+ info->m_J1angularAxis[srow+0] = tmpA[0];
+ info->m_J1angularAxis[srow+1] = tmpA[1];
+ info->m_J1angularAxis[srow+2] = tmpA[2];
+ info->m_J2angularAxis[srow+0] = -tmpB[0];
+ info->m_J2angularAxis[srow+1] = -tmpB[1];
+ info->m_J2angularAxis[srow+2] = -tmpB[2];
+ }
+ }
+ else
+ { // The old way. May be incorrect if bodies are not on the slider axis
+ btVector3 ltd; // Linear Torque Decoupling vector (a torque)
+ ltd = c.cross(ax1);
+ info->m_J1angularAxis[srow+0] = factA*ltd[0];
+ info->m_J1angularAxis[srow+1] = factA*ltd[1];
+ info->m_J1angularAxis[srow+2] = factA*ltd[2];
+ info->m_J2angularAxis[srow+0] = factB*ltd[0];
+ info->m_J2angularAxis[srow+1] = factB*ltd[1];
+ info->m_J2angularAxis[srow+2] = factB*ltd[2];
+ }
// right-hand part
btScalar lostop = getLowerLinLimit();
btScalar histop = getUpperLinLimit();
@@ -339,21 +522,27 @@
info->m_constraintError[srow] = 0.;
info->m_lowerLimit[srow] = 0.;
info->m_upperLimit[srow] = 0.;
+ currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp;
if(powered)
{
- info->cfm[nrow] = btScalar(0.0);
+ if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN)
+ {
+ info->cfm[srow] = m_cfmDirLin;
+ }
btScalar tag_vel = getTargetLinMotorVelocity();
- btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * info->erp);
-// info->m_constraintError[srow] += mot_fact * getTargetLinMotorVelocity();
+ btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP);
info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity();
info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps;
info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps;
}
if(limit)
{
- k = info->fps * info->erp;
+ k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
- info->cfm[srow] = btScalar(0.0); // stop_cfm;
+ if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN)
+ {
+ info->cfm[srow] = m_cfmLimLin;
+ }
if(lostop == histop)
{ // limited low and high simultaneously
info->m_lowerLimit[srow] = -SIMD_INFINITY;
@@ -373,8 +562,8 @@
btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin());
if(bounce > btScalar(0.0))
{
- btScalar vel = m_rbA.getLinearVelocity().dot(ax1);
- vel -= m_rbB.getLinearVelocity().dot(ax1);
+ btScalar vel = linVelA.dot(ax1);
+ vel -= linVelB.dot(ax1);
vel *= signFact;
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.
@@ -436,19 +625,26 @@
{ // the joint motor is ineffective
powered = 0;
}
+ currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
if(powered)
{
- info->cfm[srow] = btScalar(0.0);
- btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * info->erp);
+ if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG)
+ {
+ info->cfm[srow] = m_cfmDirAng;
+ }
+ btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP);
info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity();
info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps;
info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps;
}
if(limit)
{
- k = info->fps * info->erp;
+ k = info->fps * currERP;
info->m_constraintError[srow] += k * limit_err;
- info->cfm[srow] = btScalar(0.0); // stop_cfm;
+ if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG)
+ {
+ info->cfm[srow] = m_cfmLimAng;
+ }
if(lostop == histop)
{
// limited low and high simultaneously
@@ -499,319 +695,163 @@
info->m_constraintError[srow] *= getSoftnessLimAng();
} // if(limit)
} // if angular limit or powered
-} // btSliderConstraint::getInfo2()
+}
-//-----------------------------------------------------------------------------
-void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep)
+///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+///If no axis is provided, it uses the default axis for this constraint.
+void btSliderConstraint::setParam(int num, btScalar value, int axis)
{
- if (m_useSolveConstraintObsolete)
+ switch(num)
{
- m_timeStep = timeStep;
- if(m_useLinearReferenceFrameA)
+ case BT_CONSTRAINT_STOP_ERP :
+ if(axis < 1)
{
- solveConstraintInt(m_rbA,bodyA, m_rbB,bodyB);
+ m_softnessLimLin = value;
+ m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN;
}
+ else if(axis < 3)
+ {
+ m_softnessOrthoLin = value;
+ m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN;
+ }
+ else if(axis == 3)
+ {
+ m_softnessLimAng = value;
+ m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG;
+ }
+ else if(axis < 6)
+ {
+ m_softnessOrthoAng = value;
+ m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG;
+ }
else
{
- solveConstraintInt(m_rbB,bodyB, m_rbA,bodyA);
+ btAssertConstrParams(0);
}
- }
-} // btSliderConstraint::solveConstraint()
-
-//-----------------------------------------------------------------------------
-
-void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB)
-{
- int i;
- // linear
- btVector3 velA;
- bodyA.getVelocityInLocalPointObsolete(m_relPosA,velA);
- btVector3 velB;
- bodyB.getVelocityInLocalPointObsolete(m_relPosB,velB);
- btVector3 vel = velA - velB;
- for(i = 0; i < 3; i++)
- {
- const btVector3& normal = m_jacLin[i].m_linearJointAxis;
- btScalar rel_vel = normal.dot(vel);
- // calculate positional error
- btScalar depth = m_depth[i];
- // get parameters
- btScalar softness = (i) ? m_softnessOrthoLin : (m_solveLinLim ? m_softnessLimLin : m_softnessDirLin);
- btScalar restitution = (i) ? m_restitutionOrthoLin : (m_solveLinLim ? m_restitutionLimLin : m_restitutionDirLin);
- btScalar damping = (i) ? m_dampingOrthoLin : (m_solveLinLim ? m_dampingLimLin : m_dampingDirLin);
- // calcutate and apply impulse
- btScalar normalImpulse = softness * (restitution * depth / m_timeStep - damping * rel_vel) * m_jacLinDiagABInv[i];
- btVector3 impulse_vector = normal * normalImpulse;
-
- //rbA.applyImpulse( impulse_vector, m_relPosA);
- //rbB.applyImpulse(-impulse_vector, m_relPosB);
+ break;
+ case BT_CONSTRAINT_CFM :
+ if(axis < 1)
{
- btVector3 ftorqueAxis1 = m_relPosA.cross(normal);
- btVector3 ftorqueAxis2 = m_relPosB.cross(normal);
- bodyA.applyImpulse(normal*rbA.getInvMass(), rbA.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
- bodyB.applyImpulse(normal*rbB.getInvMass(), rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
+ m_cfmDirLin = value;
+ m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN;
}
-
-
-
- if(m_poweredLinMotor && (!i))
- { // apply linear motor
- if(m_accumulatedLinMotorImpulse < m_maxLinMotorForce)
- {
- btScalar desiredMotorVel = m_targetLinMotorVelocity;
- btScalar motor_relvel = desiredMotorVel + rel_vel;
- normalImpulse = -motor_relvel * m_jacLinDiagABInv[i];
- // clamp accumulated impulse
- btScalar new_acc = m_accumulatedLinMotorImpulse + btFabs(normalImpulse);
- if(new_acc > m_maxLinMotorForce)
- {
- new_acc = m_maxLinMotorForce;
- }
- btScalar del = new_acc - m_accumulatedLinMotorImpulse;
- if(normalImpulse < btScalar(0.0))
- {
- normalImpulse = -del;
- }
- else
- {
- normalImpulse = del;
- }
- m_accumulatedLinMotorImpulse = new_acc;
- // apply clamped impulse
- impulse_vector = normal * normalImpulse;
- //rbA.applyImpulse( impulse_vector, m_relPosA);
- //rbB.applyImpulse(-impulse_vector, m_relPosB);
-
- {
- btVector3 ftorqueAxis1 = m_relPosA.cross(normal);
- btVector3 ftorqueAxis2 = m_relPosB.cross(normal);
- bodyA.applyImpulse(normal*rbA.getInvMass(), rbA.getInvInertiaTensorWorld()*ftorqueAxis1,normalImpulse);
- bodyB.applyImpulse(normal*rbB.getInvMass(), rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-normalImpulse);
- }
-
-
-
- }
+ else if(axis == 3)
+ {
+ m_cfmDirAng = value;
+ m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG;
}
- }
- // angular
- // get axes in world space
- btVector3 axisA = m_calculatedTransformA.getBasis().getColumn(0);
- btVector3 axisB = m_calculatedTransformB.getBasis().getColumn(0);
-
- btVector3 angVelA;
- bodyA.getAngularVelocity(angVelA);
- btVector3 angVelB;
- bodyB.getAngularVelocity(angVelB);
-
- btVector3 angVelAroundAxisA = axisA * axisA.dot(angVelA);
- btVector3 angVelAroundAxisB = axisB * axisB.dot(angVelB);
-
- btVector3 angAorthog = angVelA - angVelAroundAxisA;
- btVector3 angBorthog = angVelB - angVelAroundAxisB;
- btVector3 velrelOrthog = angAorthog-angBorthog;
- //solve orthogonal angular velocity correction
- btScalar len = velrelOrthog.length();
- btScalar orthorImpulseMag = 0.f;
-
- if (len > btScalar(0.00001))
- {
- btVector3 normal = velrelOrthog.normalized();
- btScalar denom = rbA.computeAngularImpulseDenominator(normal) + rbB.computeAngularImpulseDenominator(normal);
- //velrelOrthog *= (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
- orthorImpulseMag = (btScalar(1.)/denom) * m_dampingOrthoAng * m_softnessOrthoAng;
- }
- //solve angular positional correction
- btVector3 angularError = axisA.cross(axisB) *(btScalar(1.)/m_timeStep);
- btVector3 angularAxis = angularError;
- btScalar angularImpulseMag = 0;
-
- btScalar len2 = angularError.length();
- if (len2>btScalar(0.00001))
- {
- btVector3 normal2 = angularError.normalized();
- btScalar denom2 = rbA.computeAngularImpulseDenominator(normal2) + rbB.computeAngularImpulseDenominator(normal2);
- angularImpulseMag = (btScalar(1.)/denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
- angularError *= angularImpulseMag;
- }
- // apply impulse
- //rbA.applyTorqueImpulse(-velrelOrthog+angularError);
- //rbB.applyTorqueImpulse(velrelOrthog-angularError);
-
- bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*velrelOrthog,-orthorImpulseMag);
- bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*velrelOrthog,orthorImpulseMag);
- bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*angularAxis,angularImpulseMag);
- bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*angularAxis,-angularImpulseMag);
-
-
- btScalar impulseMag;
- //solve angular limits
- if(m_solveAngLim)
- {
- impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingLimAng + m_angDepth * m_restitutionLimAng / m_timeStep;
- impulseMag *= m_kAngle * m_softnessLimAng;
- }
- else
- {
- impulseMag = (angVelB - angVelA).dot(axisA) * m_dampingDirAng + m_angDepth * m_restitutionDirAng / m_timeStep;
- impulseMag *= m_kAngle * m_softnessDirAng;
- }
- btVector3 impulse = axisA * impulseMag;
- //rbA.applyTorqueImpulse(impulse);
- //rbB.applyTorqueImpulse(-impulse);
-
- bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*axisA,impulseMag);
- bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-impulseMag);
-
-
-
- //apply angular motor
- if(m_poweredAngMotor)
- {
- if(m_accumulatedAngMotorImpulse < m_maxAngMotorForce)
+ else
{
- btVector3 velrel = angVelAroundAxisA - angVelAroundAxisB;
- btScalar projRelVel = velrel.dot(axisA);
-
- btScalar desiredMotorVel = m_targetAngMotorVelocity;
- btScalar motor_relvel = desiredMotorVel - projRelVel;
-
- btScalar angImpulse = m_kAngle * motor_relvel;
- // clamp accumulated impulse
- btScalar new_acc = m_accumulatedAngMotorImpulse + btFabs(angImpulse);
- if(new_acc > m_maxAngMotorForce)
- {
- new_acc = m_maxAngMotorForce;
- }
- btScalar del = new_acc - m_accumulatedAngMotorImpulse;
- if(angImpulse < btScalar(0.0))
- {
- angImpulse = -del;
- }
- else
- {
- angImpulse = del;
- }
- m_accumulatedAngMotorImpulse = new_acc;
- // apply clamped impulse
- btVector3 motorImp = angImpulse * axisA;
- //rbA.applyTorqueImpulse(motorImp);
- //rbB.applyTorqueImpulse(-motorImp);
-
- bodyA.applyImpulse(btVector3(0,0,0), rbA.getInvInertiaTensorWorld()*axisA,angImpulse);
- bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-angImpulse);
+ btAssertConstrParams(0);
}
- }
-} // btSliderConstraint::solveConstraint()
-
-//-----------------------------------------------------------------------------
-
-//-----------------------------------------------------------------------------
-
-void btSliderConstraint::calculateTransforms(void){
- if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete))
- {
- m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
- m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
- }
- else
- {
- m_calculatedTransformA = m_rbB.getCenterOfMassTransform() * m_frameInB;
- m_calculatedTransformB = m_rbA.getCenterOfMassTransform() * m_frameInA;
- }
- m_realPivotAInW = m_calculatedTransformA.getOrigin();
- m_realPivotBInW = m_calculatedTransformB.getOrigin();
- m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X
- if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete)
- {
- m_delta = m_realPivotBInW - m_realPivotAInW;
- }
- else
- {
- m_delta = m_realPivotAInW - m_realPivotBInW;
- }
- m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
- btVector3 normalWorld;
- int i;
- //linear part
- for(i = 0; i < 3; i++)
- {
- normalWorld = m_calculatedTransformA.getBasis().getColumn(i);
- m_depth[i] = m_delta.dot(normalWorld);
- }
-} // btSliderConstraint::calculateTransforms()
-
-//-----------------------------------------------------------------------------
-
-void btSliderConstraint::testLinLimits(void)
-{
- m_solveLinLim = false;
- m_linPos = m_depth[0];
- if(m_lowerLinLimit <= m_upperLinLimit)
- {
- if(m_depth[0] > m_upperLinLimit)
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ if(axis < 1)
{
- m_depth[0] -= m_upperLinLimit;
- m_solveLinLim = true;
+ m_cfmLimLin = value;
+ m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN;
}
- else if(m_depth[0] < m_lowerLinLimit)
+ else if(axis < 3)
{
- m_depth[0] -= m_lowerLinLimit;
- m_solveLinLim = true;
+ m_cfmOrthoLin = value;
+ m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN;
}
+ else if(axis == 3)
+ {
+ m_cfmLimAng = value;
+ m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG;
+ }
+ else if(axis < 6)
+ {
+ m_cfmOrthoAng = value;
+ m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG;
+ }
else
{
- m_depth[0] = btScalar(0.);
+ btAssertConstrParams(0);
}
+ break;
}
- else
- {
- m_depth[0] = btScalar(0.);
- }
-} // btSliderConstraint::testLinLimits()
+}
-//-----------------------------------------------------------------------------
-
-void btSliderConstraint::testAngLimits(void)
+///return the local value of parameter
+btScalar btSliderConstraint::getParam(int num, int axis) const
{
- m_angDepth = btScalar(0.);
- m_solveAngLim = false;
- if(m_lowerAngLimit <= m_upperAngLimit)
+ btScalar retVal(SIMD_INFINITY);
+ switch(num)
{
- const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1);
- const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2);
- const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1);
- btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
- m_angPos = rot;
- if(rot < m_lowerAngLimit)
+ case BT_CONSTRAINT_STOP_ERP :
+ if(axis < 1)
{
- m_angDepth = rot - m_lowerAngLimit;
- m_solveAngLim = true;
- }
- else if(rot > m_upperAngLimit)
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN);
+ retVal = m_softnessLimLin;
+ }
+ else if(axis < 3)
{
- m_angDepth = rot - m_upperAngLimit;
- m_solveAngLim = true;
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN);
+ retVal = m_softnessOrthoLin;
}
+ else if(axis == 3)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG);
+ retVal = m_softnessLimAng;
+ }
+ else if(axis < 6)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG);
+ retVal = m_softnessOrthoAng;
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+ break;
+ case BT_CONSTRAINT_CFM :
+ if(axis < 1)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN);
+ retVal = m_cfmDirLin;
+ }
+ else if(axis == 3)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG);
+ retVal = m_cfmDirAng;
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+ break;
+ case BT_CONSTRAINT_STOP_CFM :
+ if(axis < 1)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN);
+ retVal = m_cfmLimLin;
+ }
+ else if(axis < 3)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN);
+ retVal = m_cfmOrthoLin;
+ }
+ else if(axis == 3)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG);
+ retVal = m_cfmLimAng;
+ }
+ else if(axis < 6)
+ {
+ btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG);
+ retVal = m_cfmOrthoAng;
+ }
+ else
+ {
+ btAssertConstrParams(0);
+ }
+ break;
}
-} // btSliderConstraint::testAngLimits()
-
-//-----------------------------------------------------------------------------
+ return retVal;
+}
-btVector3 btSliderConstraint::getAncorInA(void)
-{
- btVector3 ancorInA;
- ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis;
- ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA;
- return ancorInA;
-} // btSliderConstraint::getAncorInA()
-//-----------------------------------------------------------------------------
-btVector3 btSliderConstraint::getAncorInB(void)
-{
- btVector3 ancorInB;
- ancorInB = m_frameInB.getOrigin();
- return ancorInB;
-} // btSliderConstraint::getAncorInB();
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -25,29 +25,47 @@
#ifndef SLIDER_CONSTRAINT_H
#define SLIDER_CONSTRAINT_H
-//-----------------------------------------------------------------------------
+
#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"
-//-----------------------------------------------------------------------------
+
class btRigidBody;
-//-----------------------------------------------------------------------------
+
#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
+#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
-//-----------------------------------------------------------------------------
+enum btSliderFlags
+{
+ BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
+ BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
+ BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
+ BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
+ BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
+ BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
+ BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
+ BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
+ BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
+ BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
+ BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
+ BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
+};
+
+
class btSliderConstraint : public btTypedConstraint
{
protected:
///for backwards compatibility during the transition to 'getInfo/getInfo2'
bool m_useSolveConstraintObsolete;
+ bool m_useOffsetForConstraintFrame;
btTransform m_frameInA;
btTransform m_frameInB;
// use frameA fo define limits, if true
@@ -67,26 +85,39 @@
btScalar m_softnessDirLin;
btScalar m_restitutionDirLin;
btScalar m_dampingDirLin;
+ btScalar m_cfmDirLin;
+
btScalar m_softnessDirAng;
btScalar m_restitutionDirAng;
btScalar m_dampingDirAng;
+ btScalar m_cfmDirAng;
+
btScalar m_softnessLimLin;
btScalar m_restitutionLimLin;
btScalar m_dampingLimLin;
+ btScalar m_cfmLimLin;
+
btScalar m_softnessLimAng;
btScalar m_restitutionLimAng;
btScalar m_dampingLimAng;
+ btScalar m_cfmLimAng;
+
btScalar m_softnessOrthoLin;
btScalar m_restitutionOrthoLin;
btScalar m_dampingOrthoLin;
+ btScalar m_cfmOrthoLin;
+
btScalar m_softnessOrthoAng;
btScalar m_restitutionOrthoAng;
btScalar m_dampingOrthoAng;
+ btScalar m_cfmOrthoAng;
// for interlal use
bool m_solveLinLim;
bool m_solveAngLim;
+ int m_flags;
+
btJacobianEntry m_jacLin[3];
btScalar m_jacLinDiagABInv[3];
@@ -126,16 +157,19 @@
public:
// constructors
btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
- btSliderConstraint();
+ btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
+
// overrides
- virtual void buildJacobian();
+
virtual void getInfo1 (btConstraintInfo1* info);
+
+ void getInfo1NonVirtual(btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
- virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
-
+ void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
+
// access
const btRigidBody& getRigidBodyA() const { return m_rbA; }
const btRigidBody& getRigidBodyB() const { return m_rbB; }
@@ -150,9 +184,9 @@
btScalar getUpperLinLimit() { return m_upperLinLimit; }
void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
btScalar getLowerAngLimit() { return m_lowerAngLimit; }
- void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; }
+ void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
btScalar getUpperAngLimit() { return m_upperAngLimit; }
- void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; }
+ void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
btScalar getSoftnessDirLin() { return m_softnessDirLin; }
btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
@@ -210,20 +244,78 @@
btScalar getLinDepth() { return m_depth[0]; }
bool getSolveAngLimit() { return m_solveAngLim; }
btScalar getAngDepth() { return m_angDepth; }
- // internal
- void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB);
- void solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB);
// shared code used by ODE solver
- void calculateTransforms(void);
- void testLinLimits(void);
- void testLinLimits2(btConstraintInfo2* info);
- void testAngLimits(void);
+ void calculateTransforms(const btTransform& transA,const btTransform& transB);
+ void testLinLimits();
+ void testAngLimits();
// access for PE Solver
- btVector3 getAncorInA(void);
- btVector3 getAncorInB(void);
+ btVector3 getAncorInA();
+ btVector3 getAncorInB();
+ // access for UseFrameOffset
+ bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+ void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+ ///If no axis is provided, it uses the default axis for this constraint.
+ virtual void setParam(int num, btScalar value, int axis = -1);
+ ///return the local value of parameter
+ virtual btScalar getParam(int num, int axis = -1) const;
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
};
-//-----------------------------------------------------------------------------
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btSliderConstraintData
+{
+ btTypedConstraintData m_typeConstraintData;
+ btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+ btTransformFloatData m_rbBFrame;
+
+ float m_linearUpperLimit;
+ float m_linearLowerLimit;
+ float m_angularUpperLimit;
+ float m_angularLowerLimit;
+
+ int m_useLinearReferenceFrameA;
+ int m_useOffsetForConstraintFrame;
+
+};
+
+
+SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
+{
+ return sizeof(btSliderConstraintData);
+}
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+ btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
+ btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
+
+ m_frameInA.serializeFloat(sliderData->m_rbAFrame);
+ m_frameInB.serializeFloat(sliderData->m_rbBFrame);
+
+ sliderData->m_linearUpperLimit = float(m_upperLinLimit);
+ sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
+
+ sliderData->m_angularUpperLimit = float(m_upperAngLimit);
+ sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
+
+ sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
+ sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
+
+ return "btSliderConstraintData";
+}
+
+
+
#endif //SLIDER_CONSTRAINT_H
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -105,17 +105,16 @@
#endif
///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-ATTRIBUTE_ALIGNED16 (struct) btSolverBody
+ATTRIBUTE_ALIGNED64 (struct) btSolverBodyObsolete
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_deltaLinearVelocity;
btVector3 m_deltaAngularVelocity;
- btScalar m_angularFactor;
- btScalar m_invMass;
- btScalar m_friction;
+ btVector3 m_angularFactor;
+ btVector3 m_invMass;
btRigidBody* m_originalBody;
btVector3 m_pushVelocity;
- //btVector3 m_turnVelocity;
+ btVector3 m_turnVelocity;
SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
@@ -145,12 +144,18 @@
}
}
+ SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
+ {
+ if (m_originalBody)
+ {
+ m_pushVelocity += linearComponent*impulseMagnitude;
+ m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+ }
+ }
-/*
-
void writebackVelocity()
{
- if (m_invMass)
+ if (m_originalBody)
{
m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
@@ -158,14 +163,21 @@
//m_originalBody->setCompanionId(-1);
}
}
- */
- void writebackVelocity(btScalar timeStep=0)
+
+ void writebackVelocity(btScalar timeStep)
{
- if (m_invMass)
+ (void) timeStep;
+ if (m_originalBody)
{
- m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
+ m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
+
+ //correct the position/orientation based on push/turn recovery
+ btTransform newTransform;
+ btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
+ m_originalBody->setWorldTransform(newTransform);
+
//m_originalBody->setCompanionId(-1);
}
}
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -26,7 +26,7 @@
///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
+ATTRIBUTE_ALIGNED64 (struct) btSolverConstraint
{
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -58,13 +58,13 @@
};
union
{
- int m_solverBodyIdA;
- btScalar m_unusedPadding2;
+ btRigidBody* m_solverBodyA;
+ int m_companionIdA;
};
union
{
- int m_solverBodyIdB;
- btScalar m_unusedPadding3;
+ btRigidBody* m_solverBodyB;
+ int m_companionIdB;
};
union
@@ -78,6 +78,8 @@
btScalar m_lowerLimit;
btScalar m_upperLimit;
+ btScalar m_rhsPenetration;
+
enum btSolverConstraintType
{
BT_SOLVER_CONTACT_1D = 0,
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -16,52 +16,39 @@
#include "btTypedConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btSerializer.h"
-static btRigidBody s_fixed(0, 0,0);
#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
-:m_userConstraintType(-1),
-m_userConstraintId(-1),
-m_constraintType (type),
-m_rbA(s_fixed),
-m_rbB(s_fixed),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
-{
- s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-}
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
-:m_userConstraintType(-1),
+:btTypedObject(type),
+m_userConstraintType(-1),
m_userConstraintId(-1),
-m_constraintType (type),
+m_needsFeedback(false),
m_rbA(rbA),
-m_rbB(s_fixed),
+m_rbB(getFixedBody()),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
- s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-
}
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
-:m_userConstraintType(-1),
+:btTypedObject(type),
+m_userConstraintType(-1),
m_userConstraintId(-1),
-m_constraintType (type),
+m_needsFeedback(false),
m_rbA(rbA),
m_rbB(rbB),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
{
- s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-
}
-//-----------------------------------------------------------------------------
+
btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
{
if(lowLim > uppLim)
@@ -109,6 +96,47 @@
lim_fact = btScalar(0.0f);
}
return lim_fact;
-} // btTypedConstraint::getMotorFactor()
+}
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+ btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer;
+ tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
+ tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
+ char* name = (char*) serializer->findNameForPointer(this);
+ tcd->m_name = (char*)serializer->getUniquePointer(name);
+ if (tcd->m_name)
+ {
+ serializer->serializeName(name);
+ }
+
+ tcd->m_objectType = m_objectType;
+ tcd->m_needsFeedback = m_needsFeedback;
+ tcd->m_userConstraintId =m_userConstraintId;
+ tcd->m_userConstraintType =m_userConstraintType;
+
+ tcd->m_appliedImpulse = float(m_appliedImpulse);
+ tcd->m_dbgDrawSize = float(m_dbgDrawSize );
+
+ tcd->m_disableCollisionsBetweenLinkedBodies = false;
+
+ int i;
+ for (i=0;i<m_rbA.getNumConstraintRefs();i++)
+ if (m_rbA.getConstraintRef(i) == this)
+ tcd->m_disableCollisionsBetweenLinkedBodies = true;
+ for (i=0;i<m_rbB.getNumConstraintRefs();i++)
+ if (m_rbB.getConstraintRef(i) == this)
+ tcd->m_disableCollisionsBetweenLinkedBodies = true;
+
+ return "btTypedConstraintData";
+}
+
+btRigidBody& btTypedConstraint::getFixedBody()
+{
+ static btRigidBody s_fixed(0, 0,0);
+ s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+ return s_fixed;
+}
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2010 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.
@@ -19,28 +19,49 @@
class btRigidBody;
#include "LinearMath/btScalar.h"
#include "btSolverConstraint.h"
-struct btSolverBody;
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+class btSerializer;
-
-
enum btTypedConstraintType
{
- POINT2POINT_CONSTRAINT_TYPE,
+ POINT2POINT_CONSTRAINT_TYPE=MAX_CONTACT_MANIFOLD_TYPE+1,
HINGE_CONSTRAINT_TYPE,
CONETWIST_CONSTRAINT_TYPE,
D6_CONSTRAINT_TYPE,
- SLIDER_CONSTRAINT_TYPE
+ SLIDER_CONSTRAINT_TYPE,
+ CONTACT_CONSTRAINT_TYPE
};
+
+enum btConstraintParams
+{
+ BT_CONSTRAINT_ERP=1,
+ BT_CONSTRAINT_STOP_ERP,
+ BT_CONSTRAINT_CFM,
+ BT_CONSTRAINT_STOP_CFM
+};
+
+#if 1
+ #define btAssertConstrParams(_par) btAssert(_par)
+#else
+ #define btAssertConstrParams(_par)
+#endif
+
+
///TypedConstraint is the baseclass for Bullet constraints and vehicles
-class btTypedConstraint
+class btTypedConstraint : public btTypedObject
{
int m_userConstraintType;
- int m_userConstraintId;
- btTypedConstraintType m_constraintType;
+ union
+ {
+ int m_userConstraintId;
+ void* m_userConstraintPtr;
+ };
+ bool m_needsFeedback;
+
btTypedConstraint& operator=(btTypedConstraint& other)
{
btAssert(0);
@@ -54,10 +75,13 @@
btScalar m_appliedImpulse;
btScalar m_dbgDrawSize;
+ ///internal method used by the constraint solver, don't use them directly
+ btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
+
+ static btRigidBody& getFixedBody();
public:
- btTypedConstraint(btTypedConstraintType type);
virtual ~btTypedConstraint() {};
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
@@ -93,21 +117,45 @@
// note that the returned indexes are relative to the first index of
// the constraint.
int *findex;
+ // number of solver iterations
+ int m_numIterations;
+
+ //damping of the velocity
+ btScalar m_damping;
};
+ ///internal method used by the constraint solver, don't use them directly
+ virtual void buildJacobian() {};
- virtual void buildJacobian() = 0;
-
+ ///internal method used by the constraint solver, don't use them directly
virtual void setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
{
+ (void)ca;
+ (void)solverBodyA;
+ (void)solverBodyB;
+ (void)timeStep;
}
+
+ ///internal method used by the constraint solver, don't use them directly
virtual void getInfo1 (btConstraintInfo1* info)=0;
+ ///internal method used by the constraint solver, don't use them directly
virtual void getInfo2 (btConstraintInfo2* info)=0;
- virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep) = 0;
+ ///internal method used by the constraint solver, don't use them directly
+ void internalSetAppliedImpulse(btScalar appliedImpulse)
+ {
+ m_appliedImpulse = appliedImpulse;
+ }
+ ///internal method used by the constraint solver, don't use them directly
+ btScalar internalGetAppliedImpulse()
+ {
+ return m_appliedImpulse;
+ }
- btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
+ ///internal method used by the constraint solver, don't use them directly
+ virtual void solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar /*timeStep*/) {};
+
const btRigidBody& getRigidBodyA() const
{
@@ -147,19 +195,44 @@
return m_userConstraintId;
}
+ void setUserConstraintPtr(void* ptr)
+ {
+ m_userConstraintPtr = ptr;
+ }
+
+ void* getUserConstraintPtr()
+ {
+ return m_userConstraintPtr;
+ }
+
int getUid() const
{
return m_userConstraintId;
}
+ bool needsFeedback() const
+ {
+ return m_needsFeedback;
+ }
+
+ ///enableFeedback will allow to read the applied linear and angular impulse
+ ///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
+ void enableFeedback(bool needsFeedback)
+ {
+ m_needsFeedback = needsFeedback;
+ }
+
+ ///getAppliedImpulse is an estimated total applied impulse.
+ ///This feedback could be used to determine breaking constraints or playing sounds.
btScalar getAppliedImpulse() const
{
+ btAssert(m_needsFeedback);
return m_appliedImpulse;
}
btTypedConstraintType getConstraintType () const
{
- return m_constraintType;
+ return btTypedConstraintType(m_objectType);
}
void setDbgDrawSize(btScalar dbgDrawSize)
@@ -170,7 +243,73 @@
{
return m_dbgDrawSize;
}
+
+ ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
+ ///If no axis is provided, it uses the default axis for this constraint.
+ virtual void setParam(int num, btScalar value, int axis = -1) = 0;
+
+ ///return the local value of parameter
+ virtual btScalar getParam(int num, int axis = -1) const = 0;
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+
};
+// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits
+// all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI])
+SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
+{
+ if(angleLowerLimitInRadians >= angleUpperLimitInRadians)
+ {
+ return angleInRadians;
+ }
+ else if(angleInRadians < angleLowerLimitInRadians)
+ {
+ btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
+ btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
+ return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
+ }
+ else if(angleInRadians > angleUpperLimitInRadians)
+ {
+ btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
+ btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
+ return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
+ }
+ else
+ {
+ return angleInRadians;
+ }
+}
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btTypedConstraintData
+{
+ btRigidBodyData *m_rbA;
+ btRigidBodyData *m_rbB;
+ char *m_name;
+
+ int m_objectType;
+ int m_userConstraintType;
+ int m_userConstraintId;
+ int m_needsFeedback;
+
+ float m_appliedImpulse;
+ float m_dbgDrawSize;
+
+ int m_disableCollisionsBetweenLinkedBodies;
+ char m_pad4[4];
+
+};
+
+SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const
+{
+ return sizeof(btTypedConstraintData);
+}
+
+
+
+
#endif //TYPED_CONSTRAINT_H
Copied: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,63 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+
+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 "btUniversalConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btTransformUtil.h"
+
+
+
+#define UNIV_EPS btScalar(0.01f)
+
+
+// constructor
+// anchor, axis1 and axis2 are in world coordinate system
+// axis1 must be orthogonal to axis2
+btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
+: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
+ m_anchor(anchor),
+ m_axis1(axis1),
+ m_axis2(axis2)
+{
+ // build frame basis
+ // 6DOF constraint uses Euler angles and to define limits
+ // it is assumed that rotational order is :
+ // Z - first, allowed limits are (-PI,PI);
+ // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
+ // used to prevent constraint from instability on poles;
+ // new position of X, allowed limits are (-PI,PI);
+ // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
+ // Build the frame in world coordinate system first
+ btVector3 zAxis = axis1.normalize();
+ btVector3 yAxis = axis2.normalize();
+ btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
+ btTransform frameInW;
+ frameInW.setIdentity();
+ frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0],
+ xAxis[1], yAxis[1], zAxis[1],
+ xAxis[2], yAxis[2], zAxis[2]);
+ frameInW.setOrigin(anchor);
+ // now get constraint frame in local coordinate systems
+ m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
+ m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
+ // sei limits
+ setLinearLowerLimit(btVector3(0., 0., 0.));
+ setLinearUpperLimit(btVector3(0., 0., 0.));
+ setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
+ setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS));
+}
+
Copied: code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h (from rev 8096, code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,60 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+
+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.
+*/
+
+#ifndef UNIVERSAL_CONSTRAINT_H
+#define UNIVERSAL_CONSTRAINT_H
+
+
+
+#include "LinearMath/btVector3.h"
+#include "btTypedConstraint.h"
+#include "btGeneric6DofConstraint.h"
+
+
+
+/// Constraint similar to ODE Universal Joint
+/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
+/// and Y (axis 2)
+/// Description from ODE manual :
+/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
+/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
+
+class btUniversalConstraint : public btGeneric6DofConstraint
+{
+protected:
+ btVector3 m_anchor;
+ btVector3 m_axis1;
+ btVector3 m_axis2;
+public:
+ // constructor
+ // anchor, axis1 and axis2 are in world coordinate system
+ // axis1 must be orthogonal to axis2
+ btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
+ // access
+ const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
+ const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
+ const btVector3& getAxis1() { return m_axis1; }
+ const btVector3& getAxis2() { return m_axis2; }
+ btScalar getAngle1() { return getAngle(2); }
+ btScalar getAngle2() { return getAngle(1); }
+ // limits
+ void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
+ void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
+};
+
+
+
+#endif // UNIVERSAL_CONSTRAINT_H
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/Bullet-C-API.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/Bullet-C-API.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/Bullet-C-API.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -43,8 +43,8 @@
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
-#include "LinearMath/btStackAlloc.h"
+
/*
Create and Delete a Physics SDK
*/
@@ -181,12 +181,12 @@
plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
{
//capsule is convex hull of 2 spheres, so use btMultiSphereShape
- btVector3 inertiaHalfExtents(radius,height,radius);
+
const int numSpheres = 2;
btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
btScalar radi[numSpheres] = {radius,radius};
void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16);
- return (plCollisionShapeHandle) new (mem)btMultiSphereShape(inertiaHalfExtents,positions,radi,numSpheres);
+ return (plCollisionShapeHandle) new (mem)btMultiSphereShape(positions,radi,numSpheres);
}
plCollisionShapeHandle plNewConeShape(plReal radius, plReal height)
{
@@ -295,6 +295,14 @@
body->setWorldTransform(worldTrans);
}
+void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
+{
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
+ btAssert(body);
+ btTransform& worldTrans = body->getWorldTransform();
+ worldTrans.setFromOpenGLMatrix(matrix);
+}
+
void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
{
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
@@ -365,10 +373,7 @@
btPointCollector gjkOutput;
btGjkPairDetector::ClosestPointInput input;
- btStackAlloc gStackAlloc(1024*1024*2);
-
- input.m_stackAlloc = &gStackAlloc;
-
+
btTransform tr;
tr.setIdentity();
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btActionInterface.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btActionInterface.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btActionInterface.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,12 +20,18 @@
class btCollisionWorld;
#include "LinearMath/btScalar.h"
+#include "btRigidBody.h"
///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
class btActionInterface
{
- public:
+protected:
+ static btRigidBody& getFixedBody();
+
+
+public:
+
virtual ~btActionInterface()
{
}
@@ -36,4 +42,5 @@
};
-#endif //_BT_ACTION_INTERFACE_H
\ No newline at end of file
+#endif //_BT_ACTION_INTERFACE_H
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -48,7 +48,11 @@
startProfiling(timeStep);
+ if(0 != m_internalPreTickCallback) {
+ (*m_internalPreTickCallback)(this, timeStep);
+ }
+
///update aabbs information
updateAabbs();
//static int frame=0;
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -19,6 +19,7 @@
//collision detection
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "LinearMath/btTransformUtil.h"
@@ -35,35 +36,24 @@
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-//for debug rendering
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-#include "BulletCollision/CollisionShapes/btCompoundShape.h"
-#include "BulletCollision/CollisionShapes/btConeShape.h"
-#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btCylinderShape.h"
-#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
-#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "LinearMath/btIDebugDraw.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletDynamics/Dynamics/btActionInterface.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btMotionState.h"
+#include "LinearMath/btSerializer.h"
-
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
m_constraintSolver(constraintSolver),
m_gravity(0,-10,0),
-m_localTime(btScalar(1.)/btScalar(60.)),
+m_localTime(0),
+m_synchronizeAllMotionStates(false),
m_profileTimings(0)
{
if (!m_constraintSolver)
@@ -103,47 +93,31 @@
void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
{
-
+///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
+///to switch status _after_ adding kinematic objects to the world
+///fix it for Bullet 3.x release
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
- if (body)
+ if (body && body->getActivationState() != ISLAND_SLEEPING)
{
- if (body->getActivationState() != ISLAND_SLEEPING)
- {
- if (body->isKinematicObject())
- {
- //to calculate velocities next frame
- body->saveKinematicState(timeStep);
- }
- }
+ if (body->isKinematicObject())
+ {
+ //to calculate velocities next frame
+ body->saveKinematicState(timeStep);
+ }
}
}
+
}
void btDiscreteDynamicsWorld::debugDrawWorld()
{
BT_PROFILE("debugDrawWorld");
- if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
- {
- int numManifolds = getDispatcher()->getNumManifolds();
- btVector3 color(0,0,0);
- for (int i=0;i<numManifolds;i++)
- {
- btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
- //btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
- //btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
+ btCollisionWorld::debugDrawWorld();
- int numContacts = contactManifold->getNumContacts();
- for (int j=0;j<numContacts;j++)
- {
- btManifoldPoint& cp = contactManifold->getContactPoint(j);
- getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
- }
- }
- }
bool drawConstraints = false;
if (getDebugDrawer())
{
@@ -168,42 +142,6 @@
{
int i;
- for ( i=0;i<m_collisionObjects.size();i++)
- {
- btCollisionObject* colObj = m_collisionObjects[i];
- if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
- {
- btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
- switch(colObj->getActivationState())
- {
- case ACTIVE_TAG:
- color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
- case ISLAND_SLEEPING:
- color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
- case WANTS_DEACTIVATION:
- color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
- case DISABLE_DEACTIVATION:
- color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
- case DISABLE_SIMULATION:
- color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
- default:
- {
- color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
- }
- };
-
- debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
- }
- if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
- {
- btVector3 minAabb,maxAabb;
- btVector3 colorvec(1,0,0);
- colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
- m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
- }
-
- }
-
if (getDebugDrawer() && getDebugDrawer()->getDebugMode())
{
for (i=0;i<m_actions.size();i++)
@@ -217,15 +155,12 @@
void btDiscreteDynamicsWorld::clearForces()
{
///@todo: iterate over awake simulation islands!
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
- btCollisionObject* colObj = m_collisionObjects[i];
-
- btRigidBody* body = btRigidBody::upcast(colObj);
- if (body)
- {
- body->clearForces();
- }
+ btRigidBody* body = m_nonStaticRigidBodies[i];
+ //need to check if next line is ok
+ //it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up
+ body->clearForces();
}
}
@@ -233,12 +168,10 @@
void btDiscreteDynamicsWorld::applyGravity()
{
///@todo: iterate over awake simulation islands!
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
- btCollisionObject* colObj = m_collisionObjects[i];
-
- btRigidBody* body = btRigidBody::upcast(colObj);
- if (body && body->isActive())
+ btRigidBody* body = m_nonStaticRigidBodies[i];
+ if (body->isActive())
{
body->applyGravity();
}
@@ -269,32 +202,26 @@
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
BT_PROFILE("synchronizeMotionStates");
+ if (m_synchronizeAllMotionStates)
{
- //todo: iterate over awake simulation islands!
+ //iterate over all collision objects
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
-
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
synchronizeSingleMotionState(body);
}
- }
-/*
- if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
+ } else
{
- for ( int i=0;i<this->m_vehicles.size();i++)
+ //iterate over all active rigid bodies
+ for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
- for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
- {
- //synchronize the wheels with the (interpolated) chassis worldtransform
- m_vehicles[i]->updateWheelTransform(v,true);
- }
+ btRigidBody* body = m_nonStaticRigidBodies[i];
+ if (body->isActive())
+ synchronizeSingleMotionState(body);
}
}
- */
-
-
}
@@ -340,12 +267,14 @@
if (numSimulationSubSteps)
{
- saveKinematicState(fixedTimeStep);
+ //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
+ int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
+ saveKinematicState(fixedTimeStep*clampedSimulationSteps);
+
applyGravity();
- //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
- int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
+
for (int i=0;i<clampedSimulationSteps;i++)
{
@@ -353,10 +282,11 @@
synchronizeMotionStates();
}
- }
+ } else
+ {
+ synchronizeMotionStates();
+ }
- synchronizeMotionStates();
-
clearForces();
#ifndef BT_NO_PROFILE
@@ -371,6 +301,10 @@
BT_PROFILE("internalSingleStepSimulation");
+ if(0 != m_internalPreTickCallback) {
+ (*m_internalPreTickCallback)(this, timeStep);
+ }
+
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -411,11 +345,10 @@
void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
- btCollisionObject* colObj = m_collisionObjects[i];
- btRigidBody* body = btRigidBody::upcast(colObj);
- if (body)
+ btRigidBody* body = m_nonStaticRigidBodies[i];
+ if (body->isActive() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
{
body->setGravity(gravity);
}
@@ -427,21 +360,44 @@
return m_gravity;
}
+void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
+{
+ btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask);
+}
+void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+{
+ btRigidBody* body = btRigidBody::upcast(collisionObject);
+ if (body)
+ removeRigidBody(body);
+ else
+ btCollisionWorld::removeCollisionObject(collisionObject);
+}
+
void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
{
- removeCollisionObject(body);
+ m_nonStaticRigidBodies.remove(body);
+ btCollisionWorld::removeCollisionObject(body);
}
+
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
{
- if (!body->isStaticOrKinematicObject())
+ if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
+ if (!body->isStaticObject())
+ {
+ m_nonStaticRigidBodies.push_back(body);
+ } else
+ {
+ body->setActivationState(ISLAND_SLEEPING);
+ }
+
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
@@ -452,13 +408,21 @@
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
{
- if (!body->isStaticOrKinematicObject())
+ if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
+ if (!body->isStaticObject())
+ {
+ m_nonStaticRigidBodies.push_back(body);
+ }
+ else
+ {
+ body->setActivationState(ISLAND_SLEEPING);
+ }
addCollisionObject(body,group,mask);
}
}
@@ -479,10 +443,9 @@
{
BT_PROFILE("updateActivationState");
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
- btCollisionObject* colObj = m_collisionObjects[i];
- btRigidBody* body = btRigidBody::upcast(colObj);
+ btRigidBody* body = m_nonStaticRigidBodies[i];
if (body)
{
body->updateDeactivation(timeStep);
@@ -588,7 +551,6 @@
-
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
BT_PROFILE("solveConstraints");
@@ -603,7 +565,12 @@
btIDebugDraw* m_debugDrawer;
btStackAlloc* m_stackAlloc;
btDispatcher* m_dispatcher;
+
+ btAlignedObjectArray<btCollisionObject*> m_bodies;
+ btAlignedObjectArray<btPersistentManifold*> m_manifolds;
+ btAlignedObjectArray<btTypedConstraint*> m_constraints;
+
InplaceSolverIslandCallback(
btContactSolverInfo& solverInfo,
btConstraintSolver* solver,
@@ -623,6 +590,7 @@
}
+
InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other)
{
btAssert(0);
@@ -663,17 +631,48 @@
}
}
- ///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
- if (numManifolds + numCurConstraints)
+ if (m_solverInfo.m_minimumSolverBatchSize<=1)
{
- m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+ ///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
+ if (numManifolds + numCurConstraints)
+ {
+ m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+ }
+ } else
+ {
+
+ for (i=0;i<numBodies;i++)
+ m_bodies.push_back(bodies[i]);
+ for (i=0;i<numManifolds;i++)
+ m_manifolds.push_back(manifolds[i]);
+ for (i=0;i<numCurConstraints;i++)
+ m_constraints.push_back(startConstraint[i]);
+ if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize)
+ {
+ processConstraints();
+ } else
+ {
+ //printf("deferred\n");
+ }
}
-
}
}
+ void processConstraints()
+ {
+ if (m_manifolds.size() + m_constraints.size()>0)
+ {
+ m_solver->solveGroup( &m_bodies[0],m_bodies.size(), &m_manifolds[0], m_manifolds.size(), &m_constraints[0], m_constraints.size() ,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
+ }
+ m_bodies.resize(0);
+ m_manifolds.resize(0);
+ m_constraints.resize(0);
+ }
+
};
+
+
//sorted version of all btTypedConstraint, based on islandId
btAlignedObjectArray<btTypedConstraint*> sortedConstraints;
sortedConstraints.resize( m_constraints.size());
@@ -698,6 +697,8 @@
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback);
+ solverCallback.processConstraints();
+
m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
}
@@ -740,8 +741,8 @@
}
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback
{
btCollisionObject* m_me;
@@ -753,8 +754,8 @@
public:
btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :
btCollisionWorld::ClosestConvexResultCallback(fromA,toA),
- m_allowedPenetration(0.0f),
m_me(me),
+ m_allowedPenetration(0.0f),
m_pairCache(pairCache),
m_dispatcher(dispatcher)
{
@@ -828,46 +829,42 @@
{
BT_PROFILE("integrateTransforms");
btTransform predictedTrans;
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
- btCollisionObject* colObj = m_collisionObjects[i];
- btRigidBody* body = btRigidBody::upcast(colObj);
- if (body)
+ btRigidBody* body = m_nonStaticRigidBodies[i];
+ body->setHitFraction(1.f);
+
+ if (body->isActive() && (!body->isStaticOrKinematicObject()))
{
- body->setHitFraction(1.f);
+ body->predictIntegratedTransform(timeStep, predictedTrans);
+ btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
- if (body->isActive() && (!body->isStaticOrKinematicObject()))
+ if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
{
- body->predictIntegratedTransform(timeStep, predictedTrans);
- btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2();
-
- if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion)
+ BT_PROFILE("CCD motion clamping");
+ if (body->getCollisionShape()->isConvex())
{
- BT_PROFILE("CCD motion clamping");
- if (body->getCollisionShape()->isConvex())
- {
- gNumClampedCcdMotions++;
-
- btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
- btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
- btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+ gNumClampedCcdMotions++;
+
+ btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher());
+ //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
+ btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape());
- sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
- sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
+ sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup;
+ sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask;
- convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
- if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
- {
- body->setHitFraction(sweepResults.m_closestHitFraction);
- body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
- body->setHitFraction(0.f);
+ convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults);
+ if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f))
+ {
+ body->setHitFraction(sweepResults.m_closestHitFraction);
+ body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans);
+ body->setHitFraction(0.f);
// printf("clamped integration to hit fraction = %f\n",fraction);
- }
}
}
-
- body->proceedToTransform( predictedTrans);
}
+
+ body->proceedToTransform( predictedTrans);
}
}
}
@@ -879,21 +876,16 @@
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
BT_PROFILE("predictUnconstraintMotion");
- for ( int i=0;i<m_collisionObjects.size();i++)
+ for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
{
- btCollisionObject* colObj = m_collisionObjects[i];
- btRigidBody* body = btRigidBody::upcast(colObj);
- if (body)
+ btRigidBody* body = m_nonStaticRigidBodies[i];
+ if (!body->isStaticOrKinematicObject())
{
- if (!body->isStaticOrKinematicObject())
- {
-
- body->integrateVelocities( timeStep);
- //damping
- body->applyDamping(timeStep);
+ body->integrateVelocities( timeStep);
+ //damping
+ body->applyDamping(timeStep);
- body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
- }
+ body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());
}
}
}
@@ -914,281 +906,6 @@
-class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
-{
- btIDebugDraw* m_debugDrawer;
- btVector3 m_color;
- btTransform m_worldTrans;
-
-public:
-
- DebugDrawcallback(btIDebugDraw* debugDrawer,const btTransform& worldTrans,const btVector3& color) :
- m_debugDrawer(debugDrawer),
- m_color(color),
- m_worldTrans(worldTrans)
- {
- }
-
- virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
- {
- processTriangle(triangle,partId,triangleIndex);
- }
-
- virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
- {
- (void)partId;
- (void)triangleIndex;
-
- btVector3 wv0,wv1,wv2;
- wv0 = m_worldTrans*triangle[0];
- wv1 = m_worldTrans*triangle[1];
- wv2 = m_worldTrans*triangle[2];
- m_debugDrawer->drawLine(wv0,wv1,m_color);
- m_debugDrawer->drawLine(wv1,wv2,m_color);
- m_debugDrawer->drawLine(wv2,wv0,m_color);
- }
-};
-
-void btDiscreteDynamicsWorld::debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
-{
- btVector3 start = transform.getOrigin();
-
- const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
- const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
- const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
-
- // XY
- getDebugDrawer()->drawLine(start-xoffs, start+yoffs, color);
- getDebugDrawer()->drawLine(start+yoffs, start+xoffs, color);
- getDebugDrawer()->drawLine(start+xoffs, start-yoffs, color);
- getDebugDrawer()->drawLine(start-yoffs, start-xoffs, color);
-
- // XZ
- getDebugDrawer()->drawLine(start-xoffs, start+zoffs, color);
- getDebugDrawer()->drawLine(start+zoffs, start+xoffs, color);
- getDebugDrawer()->drawLine(start+xoffs, start-zoffs, color);
- getDebugDrawer()->drawLine(start-zoffs, start-xoffs, color);
-
- // YZ
- getDebugDrawer()->drawLine(start-yoffs, start+zoffs, color);
- getDebugDrawer()->drawLine(start+zoffs, start+yoffs, color);
- getDebugDrawer()->drawLine(start+yoffs, start-zoffs, color);
- getDebugDrawer()->drawLine(start-zoffs, start-yoffs, color);
-}
-
-void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
-{
- // Draw a small simplex at the center of the object
- {
- btVector3 start = worldTransform.getOrigin();
- getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(1,0,0), btVector3(1,0,0));
- getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,1,0), btVector3(0,1,0));
- getDebugDrawer()->drawLine(start, start+worldTransform.getBasis() * btVector3(0,0,1), btVector3(0,0,1));
- }
-
- if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
- {
- const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
- for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
- {
- btTransform childTrans = compoundShape->getChildTransform(i);
- const btCollisionShape* colShape = compoundShape->getChildShape(i);
- debugDrawObject(worldTransform*childTrans,colShape,color);
- }
-
- } else
- {
- switch (shape->getShapeType())
- {
-
- case SPHERE_SHAPE_PROXYTYPE:
- {
- const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
- btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
-
- debugDrawSphere(radius, worldTransform, color);
- break;
- }
- case MULTI_SPHERE_SHAPE_PROXYTYPE:
- {
- const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
-
- for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
- {
- btTransform childTransform = worldTransform;
- childTransform.getOrigin() += multiSphereShape->getSpherePosition(i);
- debugDrawSphere(multiSphereShape->getSphereRadius(i), childTransform, color);
- }
-
- break;
- }
- case CAPSULE_SHAPE_PROXYTYPE:
- {
- const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
-
- btScalar radius = capsuleShape->getRadius();
- btScalar halfHeight = capsuleShape->getHalfHeight();
-
- int upAxis = capsuleShape->getUpAxis();
-
-
- btVector3 capStart(0.f,0.f,0.f);
- capStart[upAxis] = -halfHeight;
-
- btVector3 capEnd(0.f,0.f,0.f);
- capEnd[upAxis] = halfHeight;
-
- // Draw the ends
- {
-
- btTransform childTransform = worldTransform;
- childTransform.getOrigin() = worldTransform * capStart;
- debugDrawSphere(radius, childTransform, color);
- }
-
- {
- btTransform childTransform = worldTransform;
- childTransform.getOrigin() = worldTransform * capEnd;
- debugDrawSphere(radius, childTransform, color);
- }
-
- // Draw some additional lines
- btVector3 start = worldTransform.getOrigin();
-
-
- capStart[(upAxis+1)%3] = radius;
- capEnd[(upAxis+1)%3] = radius;
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
- capStart[(upAxis+1)%3] = -radius;
- capEnd[(upAxis+1)%3] = -radius;
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
-
- capStart[(upAxis+1)%3] = 0.f;
- capEnd[(upAxis+1)%3] = 0.f;
-
- capStart[(upAxis+2)%3] = radius;
- capEnd[(upAxis+2)%3] = radius;
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
- capStart[(upAxis+2)%3] = -radius;
- capEnd[(upAxis+2)%3] = -radius;
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color);
-
-
- break;
- }
- case CONE_SHAPE_PROXYTYPE:
- {
- const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
- btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
- btScalar height = coneShape->getHeight();//+coneShape->getMargin();
- btVector3 start = worldTransform.getOrigin();
-
- int upAxis= coneShape->getConeUpIndex();
-
-
- btVector3 offsetHeight(0,0,0);
- offsetHeight[upAxis] = height * btScalar(0.5);
- btVector3 offsetRadius(0,0,0);
- offsetRadius[(upAxis+1)%3] = radius;
- btVector3 offset2Radius(0,0,0);
- offset2Radius[(upAxis+2)%3] = radius;
-
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color);
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offset2Radius),color);
-
-
-
- break;
-
- }
- case CYLINDER_SHAPE_PROXYTYPE:
- {
- const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
- int upAxis = cylinder->getUpAxis();
- btScalar radius = cylinder->getRadius();
- btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
- btVector3 start = worldTransform.getOrigin();
- btVector3 offsetHeight(0,0,0);
- offsetHeight[upAxis] = halfHeight;
- btVector3 offsetRadius(0,0,0);
- offsetRadius[(upAxis+1)%3] = radius;
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight+offsetRadius),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color);
- getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color);
- break;
- }
-
- case STATIC_PLANE_PROXYTYPE:
- {
- const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
- btScalar planeConst = staticPlaneShape->getPlaneConstant();
- const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
- btVector3 planeOrigin = planeNormal * planeConst;
- btVector3 vec0,vec1;
- btPlaneSpace1(planeNormal,vec0,vec1);
- btScalar vecLen = 100.f;
- btVector3 pt0 = planeOrigin + vec0*vecLen;
- btVector3 pt1 = planeOrigin - vec0*vecLen;
- btVector3 pt2 = planeOrigin + vec1*vecLen;
- btVector3 pt3 = planeOrigin - vec1*vecLen;
- getDebugDrawer()->drawLine(worldTransform*pt0,worldTransform*pt1,color);
- getDebugDrawer()->drawLine(worldTransform*pt2,worldTransform*pt3,color);
- break;
-
- }
- default:
- {
-
- if (shape->isConcave())
- {
- btConcaveShape* concaveMesh = (btConcaveShape*) shape;
-
- ///@todo pass camera, for some culling? no -> we are not a graphics lib
- btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
- btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
-
- DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
- concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
-
- }
-
- if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
- {
- btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
- //todo: pass camera for some culling
- btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
- btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
- //DebugDrawcallback drawCallback;
- DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
- convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
- }
-
-
- /// for polyhedral shapes
- if (shape->isPolyhedral())
- {
- btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
-
- int i;
- for (i=0;i<polyshape->getNumEdges();i++)
- {
- btVector3 a,b;
- polyshape->getEdge(i,a,b);
- btVector3 wa = worldTransform * a;
- btVector3 wb = worldTransform * b;
- getDebugDrawer()->drawLine(wa,wb,color);
-
- }
-
-
- }
- }
- }
- }
-}
-
-
void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
{
bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0;
@@ -1349,7 +1066,7 @@
if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
if(drawLimits)
{
- btTransform tr = pSlider->getCalculatedTransformA();
+ btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB();
btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f);
btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f);
getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0));
@@ -1366,7 +1083,7 @@
break;
}
return;
-} // btDiscreteDynamicsWorld::debugDrawConstraint()
+}
@@ -1402,3 +1119,43 @@
}
+
+void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
+{
+ int i;
+ //serialize all collision objects
+ for (i=0;i<m_collisionObjects.size();i++)
+ {
+ btCollisionObject* colObj = m_collisionObjects[i];
+ if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
+ {
+ int len = colObj->calculateSerializeBufferSize();
+ btChunk* chunk = serializer->allocate(len,1);
+ const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,colObj);
+ }
+ }
+
+ for (i=0;i<m_constraints.size();i++)
+ {
+ btTypedConstraint* constraint = m_constraints[i];
+ int size = constraint->calculateSerializeBufferSize();
+ btChunk* chunk = serializer->allocate(size,1);
+ const char* structType = constraint->serialize(chunk->m_oldPtr,serializer);
+ serializer->finalizeChunk(chunk,structType,BT_CONSTRAINT_CODE,constraint);
+ }
+}
+
+
+void btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
+{
+
+ serializer->startSerialization();
+
+ serializeRigidBodies(serializer);
+
+ serializeCollisionObjects(serializer);
+
+ serializer->finishSerialization();
+}
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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.
@@ -13,6 +13,7 @@
3. This notice may not be removed or altered from any source distribution.
*/
+
#ifndef BT_DISCRETE_DYNAMICS_WORLD_H
#define BT_DISCRETE_DYNAMICS_WORLD_H
@@ -41,6 +42,8 @@
btAlignedObjectArray<btTypedConstraint*> m_constraints;
+ btAlignedObjectArray<btRigidBody*> m_nonStaticRigidBodies;
+
btVector3 m_gravity;
//for variable timesteps
@@ -49,6 +52,7 @@
bool m_ownsIslandManager;
bool m_ownsConstraintSolver;
+ bool m_synchronizeAllMotionStates;
btAlignedObjectArray<btActionInterface*> m_actions;
@@ -73,9 +77,8 @@
virtual void saveKinematicState(btScalar timeStep);
- void debugDrawSphere(btScalar radius, const btTransform& transform, const btVector3& color);
+ void serializeRigidBodies(btSerializer* serializer);
-
public:
@@ -120,14 +123,18 @@
virtual btVector3 getGravity () const;
+ virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+
virtual void addRigidBody(btRigidBody* body);
virtual void addRigidBody(btRigidBody* body, short group, short mask);
virtual void removeRigidBody(btRigidBody* body);
- void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
+ ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
+ virtual void removeCollisionObject(btCollisionObject* collisionObject);
+
void debugDrawConstraint(btTypedConstraint* constraint);
virtual void debugDrawWorld();
@@ -174,6 +181,18 @@
///obsolete, use removeAction instead
virtual void removeCharacter(btActionInterface* character);
+ void setSynchronizeAllMotionStates(bool synchronizeAll)
+ {
+ m_synchronizeAllMotionStates = synchronizeAll;
+ }
+ bool getSynchronizeAllMotionStates() const
+ {
+ return m_synchronizeAllMotionStates;
+ }
+
+ ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
+ virtual void serialize(btSerializer* serializer);
+
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -41,6 +41,7 @@
protected:
btInternalTickCallback m_internalTickCallback;
+ btInternalTickCallback m_internalPreTickCallback;
void* m_worldUserInfo;
btContactSolverInfo m_solverInfo;
@@ -49,7 +50,7 @@
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
- :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0), m_worldUserInfo(0)
+ :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0)
{
}
@@ -102,9 +103,15 @@
virtual void clearForces() = 0;
/// Set the callback for when an internal tick (simulation substep) happens, optional user info
- void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0)
+ void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false)
{
- m_internalTickCallback = cb;
+ if (isPreTick)
+ {
+ m_internalPreTickCallback = cb;
+ } else
+ {
+ m_internalTickCallback = cb;
+ }
m_worldUserInfo = worldUserInfo;
}
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -19,6 +19,7 @@
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btMotionState.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "LinearMath/btSerializer.h"
//'temporarily' global variables
btScalar gDeactivationTime = btScalar(2.);
@@ -44,7 +45,8 @@
m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
- m_angularFactor = btScalar(1.);
+ m_angularFactor.setValue(1,1,1);
+ m_linearFactor.setValue(1,1,1);
m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
@@ -85,6 +87,17 @@
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
updateInertiaTensor();
+ m_rigidbodyFlags = 0;
+
+
+ m_deltaLinearVelocity.setZero();
+ m_deltaAngularVelocity.setZero();
+ m_invMass = m_inverseMass*m_linearFactor;
+ m_pushVelocity.setZero();
+ m_turnVelocity.setZero();
+
+
+
}
@@ -135,8 +148,8 @@
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
- m_linearDamping = GEN_clamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
- m_angularDamping = GEN_clamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+ m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
+ m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
}
@@ -226,11 +239,15 @@
m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT);
m_inverseMass = btScalar(1.0) / mass;
}
+
+ //Fg = m * a
+ m_gravity = mass * m_gravity_acceleration;
m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0),
inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0),
inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0));
+ m_invMass = m_linearFactor*m_inverseMass;
}
@@ -300,6 +317,28 @@
return true;
}
+void btRigidBody::internalWritebackVelocity(btScalar timeStep)
+{
+ (void) timeStep;
+ if (m_inverseMass)
+ {
+ setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
+ setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
+
+ //correct the position/orientation based on push/turn recovery
+ btTransform newTransform;
+ btTransformUtil::integrateTransform(getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
+ setWorldTransform(newTransform);
+ //m_originalBody->setCompanionId(-1);
+ }
+// m_deltaLinearVelocity.setZero();
+// m_deltaAngularVelocity .setZero();
+// m_pushVelocity.setZero();
+// m_turnVelocity.setZero();
+}
+
+
+
void btRigidBody::addConstraintRef(btTypedConstraint* c)
{
int index = m_constraintRefs.findLinearSearch(c);
@@ -314,3 +353,51 @@
m_constraintRefs.remove(c);
m_checkCollideWith = m_constraintRefs.size() > 0;
}
+
+int btRigidBody::calculateSerializeBufferSize() const
+{
+ int sz = sizeof(btRigidBodyData);
+ return sz;
+}
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const
+{
+ btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer;
+
+ btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer);
+
+ m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld);
+ m_linearVelocity.serialize(rbd->m_linearVelocity);
+ m_angularVelocity.serialize(rbd->m_angularVelocity);
+ rbd->m_inverseMass = m_inverseMass;
+ m_angularFactor.serialize(rbd->m_angularFactor);
+ m_linearFactor.serialize(rbd->m_linearFactor);
+ m_gravity.serialize(rbd->m_gravity);
+ m_gravity_acceleration.serialize(rbd->m_gravity_acceleration);
+ m_invInertiaLocal.serialize(rbd->m_invInertiaLocal);
+ m_totalForce.serialize(rbd->m_totalForce);
+ m_totalTorque.serialize(rbd->m_totalTorque);
+ rbd->m_linearDamping = m_linearDamping;
+ rbd->m_angularDamping = m_angularDamping;
+ rbd->m_additionalDamping = m_additionalDamping;
+ rbd->m_additionalDampingFactor = m_additionalDampingFactor;
+ rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr;
+ rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr;
+ rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor;
+ rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
+ rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
+
+ return btRigidBodyDataName;
+}
+
+
+
+void btRigidBody::serializeSingleObject(class btSerializer* serializer) const
+{
+ btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1);
+ const char* structType = serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this);
+}
+
+
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btRigidBody.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -29,7 +29,21 @@
extern btScalar gDeactivationTime;
extern bool gDisableDeactivation;
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btRigidBodyData btRigidBodyDoubleData
+#define btRigidBodyDataName "btRigidBodyDoubleData"
+#else
+#define btRigidBodyData btRigidBodyFloatData
+#define btRigidBodyDataName "btRigidBodyFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+enum btRigidBodyFlags
+{
+ BT_DISABLE_WORLD_GRAVITY = 1
+};
+
+
///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
///There are 3 types of rigid bodies:
@@ -45,7 +59,7 @@
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btScalar m_inverseMass;
- btScalar m_angularFactor;
+ btVector3 m_linearFactor;
btVector3 m_gravity;
btVector3 m_gravity_acceleration;
@@ -72,6 +86,21 @@
//keep track of typed constraints referencing this rigid body
btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
+ int m_rigidbodyFlags;
+
+ int m_debugBodyId;
+
+
+protected:
+
+ ATTRIBUTE_ALIGNED64(btVector3 m_deltaLinearVelocity);
+ btVector3 m_deltaAngularVelocity;
+ btVector3 m_angularFactor;
+ btVector3 m_invMass;
+ btVector3 m_pushVelocity;
+ btVector3 m_turnVelocity;
+
+
public:
@@ -110,7 +139,6 @@
btScalar m_additionalAngularDampingThresholdSqr;
btScalar m_additionalAngularDampingFactor;
-
btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
m_mass(mass),
m_motionState(motionState),
@@ -160,13 +188,13 @@
///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
static const btRigidBody* upcast(const btCollisionObject* colObj)
{
- if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
+ if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
return (const btRigidBody*)colObj;
return 0;
}
static btRigidBody* upcast(btCollisionObject* colObj)
{
- if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY)
+ if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
return (btRigidBody*)colObj;
return 0;
}
@@ -219,6 +247,15 @@
void setMassProps(btScalar mass, const btVector3& inertia);
+ const btVector3& getLinearFactor() const
+ {
+ return m_linearFactor;
+ }
+ void setLinearFactor(const btVector3& linearFactor)
+ {
+ m_linearFactor = linearFactor;
+ m_invMass = m_linearFactor*m_inverseMass;
+ }
btScalar getInvMass() const { return m_inverseMass; }
const btMatrix3x3& getInvInertiaTensorWorld() const {
return m_invInertiaTensorWorld;
@@ -230,7 +267,7 @@
void applyCentralForce(const btVector3& force)
{
- m_totalForce += force;
+ m_totalForce += force*m_linearFactor;
}
const btVector3& getTotalForce()
@@ -261,23 +298,23 @@
void applyTorque(const btVector3& torque)
{
- m_totalTorque += torque;
+ m_totalTorque += torque*m_angularFactor;
}
void applyForce(const btVector3& force, const btVector3& rel_pos)
{
applyCentralForce(force);
- applyTorque(rel_pos.cross(force)*m_angularFactor);
+ applyTorque(rel_pos.cross(force*m_linearFactor));
}
void applyCentralImpulse(const btVector3& impulse)
{
- m_linearVelocity += impulse * m_inverseMass;
+ m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
}
void applyTorqueImpulse(const btVector3& torque)
{
- m_angularVelocity += m_invInertiaTensorWorld * torque;
+ m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
}
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
@@ -287,24 +324,11 @@
applyCentralImpulse(impulse);
if (m_angularFactor)
{
- applyTorqueImpulse(rel_pos.cross(impulse)*m_angularFactor);
+ applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
}
}
}
- //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
- SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
- {
- if (m_inverseMass != btScalar(0.))
- {
- m_linearVelocity += linearComponent*impulseMagnitude;
- if (m_angularFactor)
- {
- m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
- }
- }
- }
-
void clearForces()
{
m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
@@ -450,12 +474,17 @@
int m_contactSolverType;
int m_frictionSolverType;
- void setAngularFactor(btScalar angFac)
+ void setAngularFactor(const btVector3& angFac)
{
m_angularFactor = angFac;
}
- btScalar getAngularFactor() const
+
+ void setAngularFactor(btScalar angFac)
{
+ m_angularFactor.setValue(angFac,angFac,angFac);
+ }
+ const btVector3& getAngularFactor() const
+ {
return m_angularFactor;
}
@@ -480,10 +509,182 @@
return m_constraintRefs.size();
}
- int m_debugBodyId;
+ void setFlags(int flags)
+ {
+ m_rigidbodyFlags = flags;
+ }
+
+ int getFlags() const
+ {
+ return m_rigidbodyFlags;
+ }
+
+ const btVector3& getDeltaLinearVelocity() const
+ {
+ return m_deltaLinearVelocity;
+ }
+
+ const btVector3& getDeltaAngularVelocity() const
+ {
+ return m_deltaAngularVelocity;
+ }
+
+ const btVector3& getPushVelocity() const
+ {
+ return m_pushVelocity;
+ }
+
+ const btVector3& getTurnVelocity() const
+ {
+ return m_turnVelocity;
+ }
+
+
+ ////////////////////////////////////////////////
+ ///some internal methods, don't use them
+
+ btVector3& internalGetDeltaLinearVelocity()
+ {
+ return m_deltaLinearVelocity;
+ }
+
+ btVector3& internalGetDeltaAngularVelocity()
+ {
+ return m_deltaAngularVelocity;
+ }
+
+ const btVector3& internalGetAngularFactor() const
+ {
+ return m_angularFactor;
+ }
+
+ const btVector3& internalGetInvMass() const
+ {
+ return m_invMass;
+ }
+
+ btVector3& internalGetPushVelocity()
+ {
+ return m_pushVelocity;
+ }
+
+ btVector3& internalGetTurnVelocity()
+ {
+ return m_turnVelocity;
+ }
+
+ SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
+ {
+ velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
+ }
+
+ SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3& angVel) const
+ {
+ angVel = getAngularVelocity()+m_deltaAngularVelocity;
+ }
+
+
+ //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
+ SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
+ {
+ if (m_inverseMass)
+ {
+ m_deltaLinearVelocity += linearComponent*impulseMagnitude;
+ m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+ }
+ }
+
+ SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
+ {
+ if (m_inverseMass)
+ {
+ m_pushVelocity += linearComponent*impulseMagnitude;
+ m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
+ }
+ }
+
+ void internalWritebackVelocity()
+ {
+ if (m_inverseMass)
+ {
+ setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
+ setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
+ //m_deltaLinearVelocity.setZero();
+ //m_deltaAngularVelocity .setZero();
+ //m_originalBody->setCompanionId(-1);
+ }
+ }
+
+
+ void internalWritebackVelocity(btScalar timeStep);
+
+
+ ///////////////////////////////////////////////
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
+
+ virtual void serializeSingleObject(class btSerializer* serializer) const;
+
};
+//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btRigidBodyFloatData
+{
+ btCollisionObjectFloatData m_collisionObjectData;
+ btMatrix3x3FloatData m_invInertiaTensorWorld;
+ btVector3FloatData m_linearVelocity;
+ btVector3FloatData m_angularVelocity;
+ btVector3FloatData m_angularFactor;
+ btVector3FloatData m_linearFactor;
+ btVector3FloatData m_gravity;
+ btVector3FloatData m_gravity_acceleration;
+ btVector3FloatData m_invInertiaLocal;
+ btVector3FloatData m_totalForce;
+ btVector3FloatData m_totalTorque;
+ float m_inverseMass;
+ float m_linearDamping;
+ float m_angularDamping;
+ float m_additionalDampingFactor;
+ float m_additionalLinearDampingThresholdSqr;
+ float m_additionalAngularDampingThresholdSqr;
+ float m_additionalAngularDampingFactor;
+ float m_linearSleepingThreshold;
+ float m_angularSleepingThreshold;
+ int m_additionalDamping;
+};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btRigidBodyDoubleData
+{
+ btCollisionObjectDoubleData m_collisionObjectData;
+ btMatrix3x3DoubleData m_invInertiaTensorWorld;
+ btVector3DoubleData m_linearVelocity;
+ btVector3DoubleData m_angularVelocity;
+ btVector3DoubleData m_angularFactor;
+ btVector3DoubleData m_linearFactor;
+ btVector3DoubleData m_gravity;
+ btVector3DoubleData m_gravity_acceleration;
+ btVector3DoubleData m_invInertiaLocal;
+ btVector3DoubleData m_totalForce;
+ btVector3DoubleData m_totalTorque;
+ double m_inverseMass;
+ double m_linearDamping;
+ double m_angularDamping;
+ double m_additionalDampingFactor;
+ double m_additionalLinearDampingThresholdSqr;
+ double m_additionalAngularDampingThresholdSqr;
+ double m_additionalAngularDampingFactor;
+ double m_linearSleepingThreshold;
+ double m_angularSleepingThreshold;
+ int m_additionalDamping;
+ char m_padding[4];
+};
+
+
#endif
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -132,9 +132,19 @@
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
{
- removeCollisionObject(body);
+ btCollisionWorld::removeCollisionObject(body);
}
+void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+{
+ btRigidBody* body = btRigidBody::upcast(collisionObject);
+ if (body)
+ removeRigidBody(body);
+ else
+ btCollisionWorld::removeCollisionObject(collisionObject);
+}
+
+
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -57,6 +57,9 @@
virtual void addRigidBody(btRigidBody* body);
virtual void removeRigidBody(btRigidBody* body);
+
+ ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
+ virtual void removeCollisionObject(btCollisionObject* collisionObject);
virtual void updateAabbs();
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -22,7 +22,12 @@
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
-static btRigidBody s_fixedObject( 0,0,0);
+btRigidBody& btActionInterface::getFixedBody()
+{
+ static btRigidBody s_fixed(0, 0,0);
+ s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+ return s_fixed;
+}
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
:m_vehicleRaycaster(raycaster),
@@ -70,6 +75,7 @@
ci.m_frictionSlip = tuning.m_frictionSlip;
ci.m_bIsFrontWheel = isFrontWheel;
ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
+ ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
m_wheelInfo.push_back( btWheelInfo(ci));
@@ -186,7 +192,7 @@
wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
wheel.m_raycastInfo.m_isInContact = true;
- wheel.m_raycastInfo.m_groundObject = &s_fixedObject;///@todo for driving on dynamic/movable objects!;
+ wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
//wheel.m_raycastInfo.m_groundObject = object;
@@ -301,10 +307,9 @@
btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
- btScalar gMaxSuspensionForce = btScalar(6000.);
- if (suspensionForce > gMaxSuspensionForce)
+ if (suspensionForce > wheel.m_maxSuspensionForce)
{
- suspensionForce = gMaxSuspensionForce;
+ suspensionForce = wheel.m_maxSuspensionForce;
}
btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
@@ -689,7 +694,7 @@
btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
- rel_pos[m_indexForwardAxis] *= wheelInfo.m_rollInfluence;
+ rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
m_chassisBody->applyImpulse(sideImp,rel_pos);
//apply friction impulse on the ground
@@ -708,13 +713,13 @@
for (int v=0;v<this->getNumWheels();v++)
{
- btVector3 wheelColor(0,255,255);
+ btVector3 wheelColor(0,1,1);
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
{
- wheelColor.setValue(0,0,255);
+ wheelColor.setValue(0,0,1);
} else
{
- wheelColor.setValue(255,0,255);
+ wheelColor.setValue(1,0,1);
}
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -29,6 +29,10 @@
btAlignedObjectArray<btVector3> m_axle;
btAlignedObjectArray<btScalar> m_forwardImpulse;
btAlignedObjectArray<btScalar> m_sideImpulse;
+
+ ///backwards compatibility
+ int m_userConstraintType;
+ int m_userConstraintId;
public:
class btVehicleTuning
@@ -40,7 +44,8 @@
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
- m_frictionSlip(btScalar(10.5))
+ m_frictionSlip(btScalar(10.5)),
+ m_maxSuspensionForce(btScalar(6000.))
{
}
btScalar m_suspensionStiffness;
@@ -48,6 +53,7 @@
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
+ btScalar m_maxSuspensionForce;
};
private:
@@ -78,6 +84,7 @@
///btActionInterface interface
virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
{
+ (void) collisionWorld;
updateVehicle(step);
}
@@ -188,7 +195,27 @@
}
+ ///backwards compatibility
+ int getUserConstraintType() const
+ {
+ return m_userConstraintType ;
+ }
+ void setUserConstraintType(int userConstraintType)
+ {
+ m_userConstraintType = userConstraintType;
+ };
+
+ void setUserConstraintId(int uid)
+ {
+ m_userConstraintId = uid;
+ }
+
+ int getUserConstraintId() const
+ {
+ return m_userConstraintId;
+ }
+
};
class btDefaultVehicleRaycaster : public btVehicleRaycaster
Modified: code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -29,6 +29,7 @@
btScalar m_wheelsDampingCompression;
btScalar m_wheelsDampingRelaxation;
btScalar m_frictionSlip;
+ btScalar m_maxSuspensionForce;
bool m_bIsFrontWheel;
};
@@ -68,6 +69,7 @@
btScalar m_rotation;
btScalar m_deltaRotation;
btScalar m_rollInfluence;
+ btScalar m_maxSuspensionForce;
btScalar m_engineForce;
@@ -99,6 +101,7 @@
m_brake = btScalar(0.);
m_rollInfluence = btScalar(0.1);
m_bIsFrontWheel = ci.m_bIsFrontWheel;
+ m_maxSuspensionForce = ci.m_maxSuspensionForce;
}
Modified: code/branches/kicklib2/src/external/bullet/BulletLicense.txt
===================================================================
--- code/branches/kicklib2/src/external/bullet/BulletLicense.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/BulletLicense.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,5 +1,5 @@
/*
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2010 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.
@@ -13,5 +13,6 @@
*/
-Free for commercial use, but please mail bullet at erwincoumans.com to report projects, and join the forum at
-www.continuousphysics.com/Bullet/phpBB2
+Free for commercial use, please report projects in the forum at http://www.bulletphysics.org
+
+In case you want to display a Bullet logo in your software: you can download the Bullet logo in various vector formats and high resolution at the download section in http://bullet.googlecode.com
Modified: code/branches/kicklib2/src/external/bullet/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/external/bullet/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -30,7 +30,7 @@
ORXONOX_EXTERNAL
NO_DLL_INTERFACE
VERSION
- 2.74
+ 2.77
SOURCE_FILES
${BULLET_FILES}
)
Modified: code/branches/kicklib2/src/external/bullet/ChangeLog
===================================================================
--- code/branches/kicklib2/src/external/bullet/ChangeLog 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/ChangeLog 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,9 +1,70 @@
Bullet Continuous Collision Detection and Physics Library
Primary author and maintainer: Erwin Coumans
-Todo: update changelog from April - July 2008
-See http://code.google.com/p/bullet/source/list for more complete log in Subversion
+This ChangeLog is incomplete, for an up-to-date list of all fixed issues see http://bullet.googlecode.com
+using http://tinyurl.com/yabmjjj
+
+2010 September 21
+ - Bullet 2.77 release based on revision 2218
+ - Added Visual Studio project files for OpenCL and Direct Compute in msvc folder
+
+2010 September 7
+ - autotools now uses CamelCase naming for libraryes just like cmake:
+ libbulletdynamics -> libBulletDynamics, libbulletmath -> libLinearMath
+
+2010 July 21
+ - Preparing for Bullet 2.77 release, around revision r2135
+ - Added an OpenCL particle demo, running on NVidia, AMD and MiniCL
+ Thanks to NVidia for the original particle demo from their OpenCL SDK
+ - Added GPU deformable object solvers for OpenCL and DirectCompute, and a DirectX 11 cloth demo
+ Thanks to AMD
+ - Create a separate library for MiniCL,
+ MiniCL is a rudimentary OpenCL wrapper that allows to compile OpenCL kernels for multi-core CPU, using Win32 Threads or Posix
+ - Moved vectormath into Bullet/src, and added a SSE implementation
+ - Added a btParallelConstraintSolver, mainly for PlayStation 3 Cell SPUs (although it runs fine on CPU too)
+
+2010 March 6
+ - Dynamica Maya plugin (and COLLADA support) is moved to http://dynamica.googlecode.com
+
+2010 February
+ - Bullet 2.76 release, revision 2010
+ - support for the .bullet binary file format
+ - btInternalEdgeUtility to adjust unwanted collisions against internal triangle edges
+ - Improved Maya Dynamica plugin with better constraint authoring and .bullet file export
+
+
+2009 September 17
+ - Minor update to Bullet 2.75 release, revision 1776
+ - Support for btConvex2dShape, check out Bullet/Demos/Box2dDemo
+ - Fixes in build systems
+ - Minor fix in btGjkPairDetector
+ - Initialize world transform for btCollisionShape in constructor
+
+
+2009 September 6
+ - Bullet 2.75 release
+ - Added SPH fluid simulation in Extras, not integrated with rigid body / soft body yet
+ Thanks to Rama Hoetzlein to make this contribution available under the ZLib license
+ - add special capsule-capsule collider code in btConvexConvexCollisionAlgorithm, to speed up capsule-ragdolls
+ - soft body improvement: faster building of bending constraints
+ - soft body improvement: allow to disable/enable cluster self-collision
+ - soft body fix: 'exploding' soft bodies when using cluster collision
+ - fix some degenerate cases in continuous convex cast, could impact ray cast/convex cast
+ Thanks to Jacob Langford for the report and reproduction cases, see http://code.google.com/p/bullet/issues/detail?id=250&can=1&start=200
+ - re-enabled split impulse
+ - added btHinge2Constraint, btUniversalConstraint, btGeneric6DofSpringConstraint
+ - demonstrate 2D physics with 2D/3D object interaction
+
+
+2008 December 2
+ - Fix contact refresh issues with btCompoundShape, introduced with btDbvt acceleration structure in btCompoundCollisionAlgorithm
+ - Made btSequentialImpulseConstraintSolver 100% compatible with ODE quickstep
+ constraints can use 'solveConstraint' method or 'getInfo/getInfo2'
+
+2008 November 30
+ - Add highly optimized SIMD branchless PGS/SI solver innerloop
+
2008 November 12
- Add compound shape export to BulletColladaConverter
Thanks to JamesH for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2840
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,33 +1,35 @@
ADD_SOURCE_FILES(BULLET_FILES
COMPILATION_BEGIN BulletLinearMathCompilation.cpp
- btConvexHull.cpp
- btQuickprof.cpp
- btGeometryUtil.cpp
- btAlignedAllocator.cpp
+ btAlignedAllocator.cpp
+ btConvexHull.cpp
+ btGeometryUtil.cpp
+ btQuickprof.cpp
+ btSerializer.cpp
COMPILATION_END
- # Headers
- btAlignedObjectArray.h
- btList.h
- btPoolAllocator.h
- btRandom.h
- btVector3.h
- btDefaultMotionState.h
- btMatrix3x3.h
- btQuadWord.h
- btHashMap.h
- btScalar.h
- btAabbUtil2.h
- btConvexHull.h
- btMinMax.h
- btQuaternion.h
- btStackAlloc.h
- btGeometryUtil.h
- btMotionState.h
- btTransform.h
- btAlignedAllocator.h
- btIDebugDraw.h
- btQuickprof.h
- btTransformUtil.h
+ # Headers
+ btAabbUtil2.h
+ btAlignedAllocator.h
+ btAlignedObjectArray.h
+ btConvexHull.h
+ btDefaultMotionState.h
+ btGeometryUtil.h
+ btHashMap.h
+ btIDebugDraw.h
+ btList.h
+ btMatrix3x3.h
+ btMinMax.h
+ btMotionState.h
+ btPoolAllocator.h
+ btQuadWord.h
+ btQuaternion.h
+ btQuickprof.h
+ btRandom.h
+ btScalar.h
+ btSerializer.h
+ btStackAlloc.h
+ btTransform.h
+ btTransformUtil.h
+ btVector3.h
)
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedAllocator.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedAllocator.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedAllocator.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -160,22 +160,8 @@
void* btAlignedAllocInternal (size_t size, int alignment)
{
gNumAlignedAllocs++;
- void* ptr;
-#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
+ void* ptr;
ptr = sAlignedAllocFunc(size, alignment);
-#else
- char *real;
- unsigned long offset;
-
- real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
- if (real) {
- offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1);
- ptr = (void *)((real + sizeof(void *)) + offset);
- *((void **)(ptr)-1) = (void *)(real);
- } else {
- ptr = (void *)(real);
- }
-#endif // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
// printf("btAlignedAllocInternal %d, %x\n",size,ptr);
return ptr;
}
@@ -189,16 +175,7 @@
gNumAlignedFree++;
// printf("btAlignedFreeInternal %x\n",ptr);
-#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
sAlignedFreeFunc(ptr);
-#else
- void* real;
-
- if (ptr) {
- real = *((void **)(ptr)-1);
- sFreeFunc(real);
- }
-#endif // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
}
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedObjectArray.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedObjectArray.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btAlignedObjectArray.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -138,6 +138,16 @@
return m_size;
}
+ SIMD_FORCE_INLINE const T& at(int n) const
+ {
+ return m_data[n];
+ }
+
+ SIMD_FORCE_INLINE T& at(int n)
+ {
+ return m_data[n];
+ }
+
SIMD_FORCE_INLINE const T& operator[](int n) const
{
return m_data[n];
@@ -171,9 +181,9 @@
{
int curSize = size();
- if (newsize < size())
+ if (newsize < curSize)
{
- for(int i = curSize; i < newsize; i++)
+ for(int i = newsize; i < curSize; i++)
{
m_data[i].~T();
}
@@ -195,7 +205,19 @@
m_size = newsize;
}
+ SIMD_FORCE_INLINE T& expandNonInitializing( )
+ {
+ int sz = size();
+ if( sz == capacity() )
+ {
+ reserve( allocSize(size()) );
+ }
+ m_size++;
+ return m_data[sz];
+ }
+
+
SIMD_FORCE_INLINE T& expand( const T& fillValue=T())
{
int sz = size();
@@ -437,6 +459,13 @@
m_capacity = capacity;
}
+ void copyFromArray(const btAlignedObjectArray& otherArray)
+ {
+ int otherSize = otherArray.size();
+ resize (otherSize);
+ otherArray.copy(0, otherSize, m_data);
+ }
+
};
#endif //BT_OBJECT_ARRAY__
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -16,9 +16,9 @@
#include <string.h>
#include "btConvexHull.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btVector3.h"
+#include "btAlignedObjectArray.h"
+#include "btMinMax.h"
+#include "btVector3.h"
@@ -96,21 +96,21 @@
// returns the point where the line p0-p1 intersects the plane n&d
static btVector3 dif;
dif = p1-p0;
- btScalar dn= dot(plane.normal,dif);
- btScalar t = -(plane.dist+dot(plane.normal,p0) )/dn;
+ btScalar dn= btDot(plane.normal,dif);
+ btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn;
return p0 + (dif*t);
}
btVector3 PlaneProject(const btPlane &plane, const btVector3 &point)
{
- return point - plane.normal * (dot(point,plane.normal)+plane.dist);
+ return point - plane.normal * (btDot(point,plane.normal)+plane.dist);
}
btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2)
{
// return the normal of the triangle
// inscribed by v0, v1, and v2
- btVector3 cp=cross(v1-v0,v2-v1);
+ btVector3 cp=btCross(v1-v0,v2-v1);
btScalar m=cp.length();
if(m==0) return btVector3(1,0,0);
return cp*(btScalar(1.0)/m);
@@ -120,23 +120,23 @@
btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint)
{
static btVector3 cp;
- cp = cross(udir,vdir).normalized();
+ cp = btCross(udir,vdir).normalized();
- btScalar distu = -dot(cp,ustart);
- btScalar distv = -dot(cp,vstart);
+ btScalar distu = -btDot(cp,ustart);
+ btScalar distv = -btDot(cp,vstart);
btScalar dist = (btScalar)fabs(distu-distv);
if(upoint)
{
btPlane plane;
- plane.normal = cross(vdir,cp).normalized();
- plane.dist = -dot(plane.normal,vstart);
+ plane.normal = btCross(vdir,cp).normalized();
+ plane.dist = -btDot(plane.normal,vstart);
*upoint = PlaneLineIntersection(plane,ustart,ustart+udir);
}
if(vpoint)
{
btPlane plane;
- plane.normal = cross(udir,cp).normalized();
- plane.dist = -dot(plane.normal,ustart);
+ plane.normal = btCross(udir,cp).normalized();
+ plane.dist = -btDot(plane.normal,ustart);
*vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir);
}
return dist;
@@ -170,7 +170,7 @@
int PlaneTest(const btPlane &p, const btVector3 &v);
int PlaneTest(const btPlane &p, const btVector3 &v) {
- btScalar a = dot(v,p.normal)+p.dist;
+ btScalar a = btDot(v,p.normal)+p.dist;
int flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR);
return flag;
}
@@ -228,7 +228,7 @@
for(int i=0;i<count;i++)
if(allow[i])
{
- if(m==-1 || dot(p[i],dir)>dot(p[m],dir))
+ if(m==-1 || btDot(p[i],dir)>btDot(p[m],dir))
m=i;
}
btAssert(m!=-1);
@@ -238,8 +238,8 @@
btVector3 orth(const btVector3 &v);
btVector3 orth(const btVector3 &v)
{
- btVector3 a=cross(v,btVector3(0,0,1));
- btVector3 b=cross(v,btVector3(0,1,0));
+ btVector3 a=btCross(v,btVector3(0,0,1));
+ btVector3 b=btCross(v,btVector3(0,1,0));
if (a.length() > b.length())
{
return a.normalized();
@@ -258,7 +258,7 @@
m = maxdirfiltered(p,count,dir,allow);
if(allow[m]==3) return m;
T u = orth(dir);
- T v = cross(u,dir);
+ T v = btCross(u,dir);
int ma=-1;
for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0))
{
@@ -313,7 +313,7 @@
int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon)
{
btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]);
- return (dot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
+ return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
}
int hasedge(const int3 &t, int a,int b);
int hasedge(const int3 &t, int a,int b)
@@ -495,8 +495,8 @@
basis[0] = verts[p0]-verts[p1];
if(p0==p1 || basis[0]==btVector3(0,0,0))
return int4(-1,-1,-1,-1);
- basis[1] = cross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
- basis[2] = cross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]);
+ basis[1] = btCross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
+ basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]);
if (basis[1].length() > basis[2].length())
{
basis[1].normalize();
@@ -512,13 +512,13 @@
if(p2 == p0 || p2 == p1)
return int4(-1,-1,-1,-1);
basis[1] = verts[p2] - verts[p0];
- basis[2] = cross(basis[1],basis[0]).normalized();
+ basis[2] = btCross(basis[1],basis[0]).normalized();
int p3 = maxdirsterid(verts,verts_count,basis[2],allow);
if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow);
if(p3==p0||p3==p1||p3==p2)
return int4(-1,-1,-1,-1);
btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3));
- if(dot(verts[p3]-verts[p0],cross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
+ if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
return int4(p0,p1,p2,p3);
}
@@ -564,7 +564,7 @@
btAssert(t->vmax<0);
btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
t->vmax = maxdirsterid(verts,verts_count,n,allow);
- t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+ t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
}
btHullTriangle *te;
vlimit-=4;
@@ -592,7 +592,7 @@
if(!m_tris[j]) continue;
if(!hasvert(*m_tris[j],v)) break;
int3 nt=*m_tris[j];
- if(above(verts,nt,center,btScalar(0.01)*epsilon) || cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
+ if(above(verts,nt,center,btScalar(0.01)*epsilon) || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
{
btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j);
@@ -614,7 +614,7 @@
}
else
{
- t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+ t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
}
}
vlimit --;
@@ -876,7 +876,7 @@
vcount = 0;
- btScalar recip[3];
+ btScalar recip[3]={0.f,0.f,0.f};
if ( scale )
{
@@ -1011,9 +1011,9 @@
btScalar y = v[1];
btScalar z = v[2];
- btScalar dx = fabsf(x - px );
- btScalar dy = fabsf(y - py );
- btScalar dz = fabsf(z - pz );
+ btScalar dx = btFabs(x - px );
+ btScalar dy = btFabs(y - py );
+ btScalar dz = btFabs(z - pz );
if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
{
@@ -1135,7 +1135,7 @@
ocount = 0;
- for (i=0; i<indexcount; i++)
+ for (i=0; i<int (indexcount); i++)
{
unsigned int v = indices[i]; // original array index
@@ -1156,7 +1156,7 @@
for (int k=0;k<m_vertexIndexMapping.size();k++)
{
- if (tmpIndices[k]==v)
+ if (tmpIndices[k]==int(v))
m_vertexIndexMapping[k]=ocount;
}
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btConvexHull.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -19,8 +19,8 @@
#ifndef CD_HULL_H
#define CD_HULL_H
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedObjectArray.h"
+#include "btVector3.h"
+#include "btAlignedObjectArray.h"
typedef btAlignedObjectArray<unsigned int> TUIntArray;
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btDefaultMotionState.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btDefaultMotionState.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btDefaultMotionState.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,8 @@
#ifndef DEFAULT_MOTION_STATE_H
#define DEFAULT_MOTION_STATE_H
+#include "btMotionState.h"
+
///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
struct btDefaultMotionState : public btMotionState
{
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btHashMap.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btHashMap.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btHashMap.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -3,94 +3,215 @@
#include "btAlignedObjectArray.h"
+///very basic hashable string implementation, compatible with btHashMap
+struct btHashString
+{
+ const char* m_string;
+ unsigned int m_hash;
+
+ SIMD_FORCE_INLINE unsigned int getHash()const
+ {
+ return m_hash;
+ }
+
+ btHashString(const char* name)
+ :m_string(name)
+ {
+ /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
+ static const unsigned int InitialFNV = 2166136261u;
+ static const unsigned int FNVMultiple = 16777619u;
+
+ /* Fowler / Noll / Vo (FNV) Hash */
+ unsigned int hash = InitialFNV;
+
+ for(int i = 0; m_string[i]; i++)
+ {
+ hash = hash ^ (m_string[i]); /* xor the low 8 bits */
+ hash = hash * FNVMultiple; /* multiply by the magic number */
+ }
+ m_hash = hash;
+ }
+
+ int portableStringCompare(const char* src, const char* dst) const
+ {
+ int ret = 0 ;
+
+ while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
+ ++src, ++dst;
+
+ if ( ret < 0 )
+ ret = -1 ;
+ else if ( ret > 0 )
+ ret = 1 ;
+
+ return( ret );
+ }
+
+ bool equals(const btHashString& other) const
+ {
+ return (m_string == other.m_string) ||
+ (0==portableStringCompare(m_string,other.m_string));
+
+ }
+
+};
+
const int BT_HASH_NULL=0xffffffff;
-template <class Value>
-class btHashKey
+
+class btHashInt
{
int m_uid;
public:
-
- btHashKey(int uid)
- :m_uid(uid)
+ btHashInt(int uid) :m_uid(uid)
{
}
- int getUid() const
+ int getUid1() const
{
return m_uid;
}
+ void setUid1(int uid)
+ {
+ m_uid = uid;
+ }
+
+ bool equals(const btHashInt& other) const
+ {
+ return getUid1() == other.getUid1();
+ }
//to our success
SIMD_FORCE_INLINE unsigned int getHash()const
{
int key = m_uid;
// Thomas Wang's hash
- key += ~(key << 15);
- key ^= (key >> 10);
- key += (key << 3);
- key ^= (key >> 6);
- key += ~(key << 11);
- key ^= (key >> 16);
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
return key;
}
+};
- btHashKey getKey(const Value& value) const
+
+
+class btHashPtr
+{
+
+ union
{
- return btHashKey(value.getUid());
+ const void* m_pointer;
+ int m_hashValues[2];
+ };
+
+public:
+
+ btHashPtr(const void* ptr)
+ :m_pointer(ptr)
+ {
}
+
+ const void* getPointer() const
+ {
+ return m_pointer;
+ }
+
+ bool equals(const btHashPtr& other) const
+ {
+ return getPointer() == other.getPointer();
+ }
+
+ //to our success
+ SIMD_FORCE_INLINE unsigned int getHash()const
+ {
+ const bool VOID_IS_8 = ((sizeof(void*)==8));
+
+ int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
+
+ // Thomas Wang's hash
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
+ return key;
+ }
+
+
};
template <class Value>
class btHashKeyPtr
{
+ int m_uid;
+public:
+
+ btHashKeyPtr(int uid) :m_uid(uid)
+ {
+ }
+
+ int getUid1() const
+ {
+ return m_uid;
+ }
+
+ bool equals(const btHashKeyPtr<Value>& other) const
+ {
+ return getUid1() == other.getUid1();
+ }
+
+ //to our success
+ SIMD_FORCE_INLINE unsigned int getHash()const
+ {
+ int key = m_uid;
+ // Thomas Wang's hash
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
+ return key;
+ }
+
+
+};
+
+
+template <class Value>
+class btHashKey
+{
int m_uid;
public:
- btHashKeyPtr(int uid)
- :m_uid(uid)
+ btHashKey(int uid) :m_uid(uid)
{
}
- int getUid() const
+ int getUid1() const
{
return m_uid;
}
+ bool equals(const btHashKey<Value>& other) const
+ {
+ return getUid1() == other.getUid1();
+ }
//to our success
SIMD_FORCE_INLINE unsigned int getHash()const
{
int key = m_uid;
// Thomas Wang's hash
- key += ~(key << 15);
- key ^= (key >> 10);
- key += (key << 3);
- key ^= (key >> 6);
- key += ~(key << 11);
- key ^= (key >> 16);
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
return key;
}
-
- btHashKeyPtr getKey(const Value& value) const
- {
- return btHashKeyPtr(value->getUid());
- }
};
+
///The btHashMap template class implements a generic and lightweight hashmap.
///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp
template <class Key, class Value>
class btHashMap
{
+protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
+
btAlignedObjectArray<Value> m_valueArray;
+ btAlignedObjectArray<Key> m_keyArray;
-
-
- void growTables(const Key& key)
+ void growTables(const Key& /*key*/)
{
int newCapacity = m_valueArray.capacity();
@@ -115,9 +236,10 @@
for(i=0;i<curHashtableSize;i++)
{
- const Value& value = m_valueArray[i];
+ //const Value& value = m_valueArray[i];
+ //const Key& key = m_keyArray[i];
- int hashValue = key.getKey(value).getHash() & (m_valueArray.capacity()-1); // New hash value with new mask
+ int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity()-1); // New hash value with new mask
m_next[i] = m_hashTable[hashValue];
m_hashTable[hashValue] = i;
}
@@ -130,14 +252,20 @@
void insert(const Key& key, const Value& value) {
int hash = key.getHash() & (m_valueArray.capacity()-1);
- //don't add it if it is already there
- if (find(key))
+
+ //replace value if the key is already there
+ int index = findIndex(key);
+ if (index != BT_HASH_NULL)
{
+ m_valueArray[index]=value;
return;
}
+
int count = m_valueArray.size();
int oldCapacity = m_valueArray.capacity();
m_valueArray.push_back(value);
+ m_keyArray.push_back(key);
+
int newCapacity = m_valueArray.capacity();
if (oldCapacity < newCapacity)
{
@@ -191,12 +319,12 @@
if (lastPairIndex == pairIndex)
{
m_valueArray.pop_back();
+ m_keyArray.pop_back();
return;
}
// Remove the last pair from the hash table.
- const Value* lastValue = &m_valueArray[lastPairIndex];
- int lastHash = key.getKey(*lastValue).getHash() & (m_valueArray.capacity()-1);
+ int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity()-1);
index = m_hashTable[lastHash];
btAssert(index != BT_HASH_NULL);
@@ -220,12 +348,14 @@
// Copy the last pair into the remove pair's spot.
m_valueArray[pairIndex] = m_valueArray[lastPairIndex];
+ m_keyArray[pairIndex] = m_keyArray[lastPairIndex];
// Insert the last pair into the hash table
m_next[pairIndex] = m_hashTable[lastHash];
m_hashTable[lastHash] = pairIndex;
m_valueArray.pop_back();
+ m_keyArray.pop_back();
}
@@ -276,15 +406,15 @@
int findIndex(const Key& key) const
{
- int hash = key.getHash() & (m_valueArray.capacity()-1);
+ unsigned int hash = key.getHash() & (m_valueArray.capacity()-1);
- if (hash >= m_hashTable.size())
+ if (hash >= (unsigned int)m_hashTable.size())
{
return BT_HASH_NULL;
}
int index = m_hashTable[hash];
- while ((index != BT_HASH_NULL) && (key.getUid() == key.getKey(m_valueArray[index]).getUid()) == false)
+ while ((index != BT_HASH_NULL) && key.equals(m_keyArray[index]) == false)
{
index = m_next[index];
}
@@ -296,6 +426,7 @@
m_hashTable.clear();
m_next.clear();
m_valueArray.clear();
+ m_keyArray.clear();
}
};
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btIDebugDraw.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btIDebugDraw.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btIDebugDraw.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,27 +1,16 @@
/*
-Copyright (c) 2005 Gino van den Bergen / Erwin Coumans http://continuousphysics.com
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
+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:
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
+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.
*/
@@ -35,6 +24,7 @@
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
+///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
class btIDebugDraw
{
public:
@@ -55,25 +45,54 @@
DBG_EnableCCD = 1024,
DBG_DrawConstraints = (1 << 11),
DBG_DrawConstraintLimits = (1 << 12),
+ DBG_FastWireframe = (1<<13),
DBG_MAX_DEBUG_DRAW_MODE
};
virtual ~btIDebugDraw() {};
+ virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
+
virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
{
+ (void) toColor;
drawLine (from, to, fromColor);
}
- virtual void drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+ virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
{
+ btVector3 start = transform.getOrigin();
+
+ const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
+ const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
+ const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
+
+ // XY
+ drawLine(start-xoffs, start+yoffs, color);
+ drawLine(start+yoffs, start+xoffs, color);
+ drawLine(start+xoffs, start-yoffs, color);
+ drawLine(start-yoffs, start-xoffs, color);
+
+ // XZ
+ drawLine(start-xoffs, start+zoffs, color);
+ drawLine(start+zoffs, start+xoffs, color);
+ drawLine(start+xoffs, start-zoffs, color);
+ drawLine(start-zoffs, start-xoffs, color);
+
+ // YZ
+ drawLine(start-yoffs, start+zoffs, color);
+ drawLine(start+zoffs, start+yoffs, color);
+ drawLine(start+yoffs, start-zoffs, color);
+ drawLine(start-zoffs, start-yoffs, color);
}
-
+
virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
{
+ btTransform tr;
+ tr.setIdentity();
+ tr.setOrigin(p);
+ drawSphere(radius,tr,color);
}
-
- virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
{
@@ -96,7 +115,7 @@
virtual int getDebugMode() const = 0;
- inline void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
+ virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
@@ -125,7 +144,7 @@
edgecoord[i]*=-1.f;
}
}
- void drawTransform(const btTransform& transform, btScalar orthoLen)
+ virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
{
btVector3 start = transform.getOrigin();
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
@@ -133,7 +152,7 @@
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
}
- void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
+ virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
{
const btVector3& vx = axis;
@@ -158,7 +177,7 @@
drawLine(center, prev, color);
}
}
- void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
+ virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
{
btVector3 vA[74];
@@ -260,7 +279,7 @@
}
}
- void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
+ virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
{
drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
@@ -275,7 +294,7 @@
drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
}
- void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
+ virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
{
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btMatrix3x3.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btMatrix3x3.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btMatrix3x3.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -13,162 +13,169 @@
*/
-#ifndef btMatrix3x3_H
-#define btMatrix3x3_H
+#ifndef BT_MATRIX3x3_H
+#define BT_MATRIX3x3_H
-#include "btScalar.h"
-
#include "btVector3.h"
#include "btQuaternion.h"
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btMatrix3x3Data btMatrix3x3DoubleData
+#else
+#define btMatrix3x3Data btMatrix3x3FloatData
+#endif //BT_USE_DOUBLE_PRECISION
/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
- * Make sure to only include a pure orthogonal matrix without scaling. */
+* Make sure to only include a pure orthogonal matrix without scaling. */
class btMatrix3x3 {
- public:
- /** @brief No initializaion constructor */
- btMatrix3x3 () {}
-
-// explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
-
- /**@brief Constructor from Quaternion */
- explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
- /*
- template <typename btScalar>
- Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
- {
- setEulerYPR(yaw, pitch, roll);
- }
- */
- /** @brief Constructor with row major formatting */
- btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
- const btScalar& yx, const btScalar& yy, const btScalar& yz,
- const btScalar& zx, const btScalar& zy, const btScalar& zz)
- {
- setValue(xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz);
- }
- /** @brief Copy constructor */
- SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
- {
- m_el[0] = other.m_el[0];
- m_el[1] = other.m_el[1];
- m_el[2] = other.m_el[2];
- }
- /** @brief Assignment Operator */
- SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
- {
- m_el[0] = other.m_el[0];
- m_el[1] = other.m_el[1];
- m_el[2] = other.m_el[2];
- return *this;
- }
- /** @brief Get a column of the matrix as a vector
- * @param i Column number 0 indexed */
- SIMD_FORCE_INLINE btVector3 getColumn(int i) const
- {
- return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
- }
-
+ ///Data storage for the matrix, each vector is a row of the matrix
+ btVector3 m_el[3];
- /** @brief Get a row of the matrix as a vector
- * @param i Row number 0 indexed */
- SIMD_FORCE_INLINE const btVector3& getRow(int i) const
- {
- btFullAssert(0 <= i && i < 3);
- return m_el[i];
- }
+public:
+ /** @brief No initializaion constructor */
+ btMatrix3x3 () {}
- /** @brief Get a mutable reference to a row of the matrix as a vector
- * @param i Row number 0 indexed */
- SIMD_FORCE_INLINE btVector3& operator[](int i)
- {
- btFullAssert(0 <= i && i < 3);
- return m_el[i];
- }
-
- /** @brief Get a const reference to a row of the matrix as a vector
- * @param i Row number 0 indexed */
- SIMD_FORCE_INLINE const btVector3& operator[](int i) const
- {
- btFullAssert(0 <= i && i < 3);
- return m_el[i];
- }
-
- /** @brief Multiply by the target matrix on the right
- * @param m Rotation matrix to be applied
- * Equivilant to this = this * m */
- btMatrix3x3& operator*=(const btMatrix3x3& m);
-
- /** @brief Set from a carray of btScalars
- * @param m A pointer to the beginning of an array of 9 btScalars */
+ // explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
+
+ /**@brief Constructor from Quaternion */
+ explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
+ /*
+ template <typename btScalar>
+ Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
+ {
+ setEulerYPR(yaw, pitch, roll);
+ }
+ */
+ /** @brief Constructor with row major formatting */
+ btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
+ const btScalar& yx, const btScalar& yy, const btScalar& yz,
+ const btScalar& zx, const btScalar& zy, const btScalar& zz)
+ {
+ setValue(xx, xy, xz,
+ yx, yy, yz,
+ zx, zy, zz);
+ }
+ /** @brief Copy constructor */
+ SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
+ {
+ m_el[0] = other.m_el[0];
+ m_el[1] = other.m_el[1];
+ m_el[2] = other.m_el[2];
+ }
+ /** @brief Assignment Operator */
+ SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
+ {
+ m_el[0] = other.m_el[0];
+ m_el[1] = other.m_el[1];
+ m_el[2] = other.m_el[2];
+ return *this;
+ }
+
+ /** @brief Get a column of the matrix as a vector
+ * @param i Column number 0 indexed */
+ SIMD_FORCE_INLINE btVector3 getColumn(int i) const
+ {
+ return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
+ }
+
+
+ /** @brief Get a row of the matrix as a vector
+ * @param i Row number 0 indexed */
+ SIMD_FORCE_INLINE const btVector3& getRow(int i) const
+ {
+ btFullAssert(0 <= i && i < 3);
+ return m_el[i];
+ }
+
+ /** @brief Get a mutable reference to a row of the matrix as a vector
+ * @param i Row number 0 indexed */
+ SIMD_FORCE_INLINE btVector3& operator[](int i)
+ {
+ btFullAssert(0 <= i && i < 3);
+ return m_el[i];
+ }
+
+ /** @brief Get a const reference to a row of the matrix as a vector
+ * @param i Row number 0 indexed */
+ SIMD_FORCE_INLINE const btVector3& operator[](int i) const
+ {
+ btFullAssert(0 <= i && i < 3);
+ return m_el[i];
+ }
+
+ /** @brief Multiply by the target matrix on the right
+ * @param m Rotation matrix to be applied
+ * Equivilant to this = this * m */
+ btMatrix3x3& operator*=(const btMatrix3x3& m);
+
+ /** @brief Set from a carray of btScalars
+ * @param m A pointer to the beginning of an array of 9 btScalars */
void setFromOpenGLSubMatrix(const btScalar *m)
- {
- m_el[0].setValue(m[0],m[4],m[8]);
- m_el[1].setValue(m[1],m[5],m[9]);
- m_el[2].setValue(m[2],m[6],m[10]);
+ {
+ m_el[0].setValue(m[0],m[4],m[8]);
+ m_el[1].setValue(m[1],m[5],m[9]);
+ m_el[2].setValue(m[2],m[6],m[10]);
- }
- /** @brief Set the values of the matrix explicitly (row major)
- * @param xx Top left
- * @param xy Top Middle
- * @param xz Top Right
- * @param yx Middle Left
- * @param yy Middle Middle
- * @param yz Middle Right
- * @param zx Bottom Left
- * @param zy Bottom Middle
- * @param zz Bottom Right*/
- void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
- const btScalar& yx, const btScalar& yy, const btScalar& yz,
- const btScalar& zx, const btScalar& zy, const btScalar& zz)
- {
- m_el[0].setValue(xx,xy,xz);
- m_el[1].setValue(yx,yy,yz);
- m_el[2].setValue(zx,zy,zz);
- }
+ }
+ /** @brief Set the values of the matrix explicitly (row major)
+ * @param xx Top left
+ * @param xy Top Middle
+ * @param xz Top Right
+ * @param yx Middle Left
+ * @param yy Middle Middle
+ * @param yz Middle Right
+ * @param zx Bottom Left
+ * @param zy Bottom Middle
+ * @param zz Bottom Right*/
+ void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
+ const btScalar& yx, const btScalar& yy, const btScalar& yz,
+ const btScalar& zx, const btScalar& zy, const btScalar& zz)
+ {
+ m_el[0].setValue(xx,xy,xz);
+ m_el[1].setValue(yx,yy,yz);
+ m_el[2].setValue(zx,zy,zz);
+ }
- /** @brief Set the matrix from a quaternion
- * @param q The Quaternion to match */
- void setRotation(const btQuaternion& q)
- {
- btScalar d = q.length2();
- btFullAssert(d != btScalar(0.0));
- btScalar s = btScalar(2.0) / d;
- btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
- btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
- btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
- btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
- setValue(btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
- xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
- xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
- }
-
+ /** @brief Set the matrix from a quaternion
+ * @param q The Quaternion to match */
+ void setRotation(const btQuaternion& q)
+ {
+ btScalar d = q.length2();
+ btFullAssert(d != btScalar(0.0));
+ btScalar s = btScalar(2.0) / d;
+ btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
+ btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
+ btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
+ btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
+ setValue(btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
+ xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
+ xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
+ }
- /** @brief Set the matrix from euler angles using YPR around YXZ respectively
- * @param yaw Yaw about Y axis
- * @param pitch Pitch about X axis
- * @param roll Roll about Z axis
- */
- void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
- {
- setEulerZYX(roll, pitch, yaw);
- }
+ /** @brief Set the matrix from euler angles using YPR around YXZ respectively
+ * @param yaw Yaw about Y axis
+ * @param pitch Pitch about X axis
+ * @param roll Roll about Z axis
+ */
+ void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
+ {
+ setEulerZYX(roll, pitch, yaw);
+ }
+
/** @brief Set the matrix from euler angles YPR around ZYX axes
- * @param eulerX Roll about X axis
- * @param eulerY Pitch around Y axis
- * @param eulerZ Yaw aboud Z axis
- *
- * These angles are used to produce a rotation matrix. The euler
- * angles are applied in ZYX order. I.e a vector is first rotated
- * about X then Y and then Z
- **/
+ * @param eulerX Roll about X axis
+ * @param eulerY Pitch around Y axis
+ * @param eulerZ Yaw aboud Z axis
+ *
+ * These angles are used to produce a rotation matrix. The euler
+ * angles are applied in ZYX order. I.e a vector is first rotated
+ * about X then Y and then Z
+ **/
void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) {
- ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
+ ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
btScalar ci ( btCos(eulerX));
btScalar cj ( btCos(eulerY));
btScalar ch ( btCos(eulerZ));
@@ -179,227 +186,233 @@
btScalar cs = ci * sh;
btScalar sc = si * ch;
btScalar ss = si * sh;
-
+
setValue(cj * ch, sj * sc - cs, sj * cc + ss,
- cj * sh, sj * ss + cc, sj * cs - sc,
- -sj, cj * si, cj * ci);
+ cj * sh, sj * ss + cc, sj * cs - sc,
+ -sj, cj * si, cj * ci);
}
- /**@brief Set the matrix to the identity */
- void setIdentity()
- {
- setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
- btScalar(0.0), btScalar(1.0), btScalar(0.0),
- btScalar(0.0), btScalar(0.0), btScalar(1.0));
- }
+ /**@brief Set the matrix to the identity */
+ void setIdentity()
+ {
+ setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
+ btScalar(0.0), btScalar(1.0), btScalar(0.0),
+ btScalar(0.0), btScalar(0.0), btScalar(1.0));
+ }
- static const btMatrix3x3& getIdentity()
+ static const btMatrix3x3& getIdentity()
+ {
+ static const btMatrix3x3 identityMatrix(btScalar(1.0), btScalar(0.0), btScalar(0.0),
+ btScalar(0.0), btScalar(1.0), btScalar(0.0),
+ btScalar(0.0), btScalar(0.0), btScalar(1.0));
+ return identityMatrix;
+ }
+
+ /**@brief Fill the values of the matrix into a 9 element array
+ * @param m The array to be filled */
+ void getOpenGLSubMatrix(btScalar *m) const
+ {
+ m[0] = btScalar(m_el[0].x());
+ m[1] = btScalar(m_el[1].x());
+ m[2] = btScalar(m_el[2].x());
+ m[3] = btScalar(0.0);
+ m[4] = btScalar(m_el[0].y());
+ m[5] = btScalar(m_el[1].y());
+ m[6] = btScalar(m_el[2].y());
+ m[7] = btScalar(0.0);
+ m[8] = btScalar(m_el[0].z());
+ m[9] = btScalar(m_el[1].z());
+ m[10] = btScalar(m_el[2].z());
+ m[11] = btScalar(0.0);
+ }
+
+ /**@brief Get the matrix represented as a quaternion
+ * @param q The quaternion which will be set */
+ void getRotation(btQuaternion& q) const
+ {
+ btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
+ btScalar temp[4];
+
+ if (trace > btScalar(0.0))
{
- static const btMatrix3x3 identityMatrix(btScalar(1.0), btScalar(0.0), btScalar(0.0),
- btScalar(0.0), btScalar(1.0), btScalar(0.0),
- btScalar(0.0), btScalar(0.0), btScalar(1.0));
- return identityMatrix;
+ btScalar s = btSqrt(trace + btScalar(1.0));
+ temp[3]=(s * btScalar(0.5));
+ s = btScalar(0.5) / s;
+
+ temp[0]=((m_el[2].y() - m_el[1].z()) * s);
+ temp[1]=((m_el[0].z() - m_el[2].x()) * s);
+ temp[2]=((m_el[1].x() - m_el[0].y()) * s);
+ }
+ else
+ {
+ int i = m_el[0].x() < m_el[1].y() ?
+ (m_el[1].y() < m_el[2].z() ? 2 : 1) :
+ (m_el[0].x() < m_el[2].z() ? 2 : 0);
+ int j = (i + 1) % 3;
+ int k = (i + 2) % 3;
+
+ btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
+ temp[i] = s * btScalar(0.5);
+ s = btScalar(0.5) / s;
+
+ temp[3] = (m_el[k][j] - m_el[j][k]) * s;
+ temp[j] = (m_el[j][i] + m_el[i][j]) * s;
+ temp[k] = (m_el[k][i] + m_el[i][k]) * s;
}
+ q.setValue(temp[0],temp[1],temp[2],temp[3]);
+ }
- /**@brief Fill the values of the matrix into a 9 element array
- * @param m The array to be filled */
- void getOpenGLSubMatrix(btScalar *m) const
+ /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
+ * @param yaw Yaw around Y axis
+ * @param pitch Pitch around X axis
+ * @param roll around Z axis */
+ void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const
+ {
+
+ // first use the normal calculus
+ yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
+ pitch = btScalar(btAsin(-m_el[2].x()));
+ roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
+
+ // on pitch = +/-HalfPI
+ if (btFabs(pitch)==SIMD_HALF_PI)
{
- m[0] = btScalar(m_el[0].x());
- m[1] = btScalar(m_el[1].x());
- m[2] = btScalar(m_el[2].x());
- m[3] = btScalar(0.0);
- m[4] = btScalar(m_el[0].y());
- m[5] = btScalar(m_el[1].y());
- m[6] = btScalar(m_el[2].y());
- m[7] = btScalar(0.0);
- m[8] = btScalar(m_el[0].z());
- m[9] = btScalar(m_el[1].z());
- m[10] = btScalar(m_el[2].z());
- m[11] = btScalar(0.0);
+ if (yaw>0)
+ yaw-=SIMD_PI;
+ else
+ yaw+=SIMD_PI;
+
+ if (roll>0)
+ roll-=SIMD_PI;
+ else
+ roll+=SIMD_PI;
}
+ };
- /**@brief Get the matrix represented as a quaternion
- * @param q The quaternion which will be set */
- void getRotation(btQuaternion& q) const
+
+ /**@brief Get the matrix represented as euler angles around ZYX
+ * @param yaw Yaw around X axis
+ * @param pitch Pitch around Y axis
+ * @param roll around X axis
+ * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
+ void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
+ {
+ struct Euler
{
- btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
- btScalar temp[4];
-
- if (trace > btScalar(0.0))
+ btScalar yaw;
+ btScalar pitch;
+ btScalar roll;
+ };
+
+ Euler euler_out;
+ Euler euler_out2; //second solution
+ //get the pointer to the raw data
+
+ // Check that pitch is not at a singularity
+ if (btFabs(m_el[2].x()) >= 1)
+ {
+ euler_out.yaw = 0;
+ euler_out2.yaw = 0;
+
+ // From difference of angles formula
+ btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
+ if (m_el[2].x() > 0) //gimbal locked up
{
- btScalar s = btSqrt(trace + btScalar(1.0));
- temp[3]=(s * btScalar(0.5));
- s = btScalar(0.5) / s;
-
- temp[0]=((m_el[2].y() - m_el[1].z()) * s);
- temp[1]=((m_el[0].z() - m_el[2].x()) * s);
- temp[2]=((m_el[1].x() - m_el[0].y()) * s);
- }
- else
+ euler_out.pitch = SIMD_PI / btScalar(2.0);
+ euler_out2.pitch = SIMD_PI / btScalar(2.0);
+ euler_out.roll = euler_out.pitch + delta;
+ euler_out2.roll = euler_out.pitch + delta;
+ }
+ else // gimbal locked down
{
- int i = m_el[0].x() < m_el[1].y() ?
- (m_el[1].y() < m_el[2].z() ? 2 : 1) :
- (m_el[0].x() < m_el[2].z() ? 2 : 0);
- int j = (i + 1) % 3;
- int k = (i + 2) % 3;
-
- btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
- temp[i] = s * btScalar(0.5);
- s = btScalar(0.5) / s;
-
- temp[3] = (m_el[k][j] - m_el[j][k]) * s;
- temp[j] = (m_el[j][i] + m_el[i][j]) * s;
- temp[k] = (m_el[k][i] + m_el[i][k]) * s;
+ euler_out.pitch = -SIMD_PI / btScalar(2.0);
+ euler_out2.pitch = -SIMD_PI / btScalar(2.0);
+ euler_out.roll = -euler_out.pitch + delta;
+ euler_out2.roll = -euler_out.pitch + delta;
}
- q.setValue(temp[0],temp[1],temp[2],temp[3]);
}
-
- /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
- * @param yaw Yaw around Y axis
- * @param pitch Pitch around X axis
- * @param roll around Z axis */
- void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const
+ else
{
-
- // first use the normal calculus
- yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
- pitch = btScalar(btAsin(-m_el[2].x()));
- roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
+ euler_out.pitch = - btAsin(m_el[2].x());
+ euler_out2.pitch = SIMD_PI - euler_out.pitch;
- // on pitch = +/-HalfPI
- if (btFabs(pitch)==SIMD_HALF_PI)
- {
- if (yaw>0)
- yaw-=SIMD_PI;
- else
- yaw+=SIMD_PI;
-
- if (roll>0)
- roll-=SIMD_PI;
- else
- roll+=SIMD_PI;
- }
- };
-
-
- /**@brief Get the matrix represented as euler angles around ZYX
- * @param yaw Yaw around X axis
- * @param pitch Pitch around Y axis
- * @param roll around X axis
- * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
- void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
- {
- struct Euler{btScalar yaw, pitch, roll;};
- Euler euler_out;
- Euler euler_out2; //second solution
- //get the pointer to the raw data
-
- // Check that pitch is not at a singularity
- if (btFabs(m_el[2].x()) >= 1)
- {
- euler_out.yaw = 0;
- euler_out2.yaw = 0;
-
- // From difference of angles formula
- btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
- if (m_el[2].x() > 0) //gimbal locked up
- {
- euler_out.pitch = SIMD_PI / btScalar(2.0);
- euler_out2.pitch = SIMD_PI / btScalar(2.0);
- euler_out.roll = euler_out.pitch + delta;
- euler_out2.roll = euler_out.pitch + delta;
- }
- else // gimbal locked down
- {
- euler_out.pitch = -SIMD_PI / btScalar(2.0);
- euler_out2.pitch = -SIMD_PI / btScalar(2.0);
- euler_out.roll = -euler_out.pitch + delta;
- euler_out2.roll = -euler_out.pitch + delta;
- }
- }
- else
- {
- euler_out.pitch = - btAsin(m_el[2].x());
- euler_out2.pitch = SIMD_PI - euler_out.pitch;
-
- euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch),
- m_el[2].z()/btCos(euler_out.pitch));
- euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch),
+ euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch),
+ m_el[2].z()/btCos(euler_out.pitch));
+ euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch),
m_el[2].z()/btCos(euler_out2.pitch));
-
- euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch),
- m_el[0].x()/btCos(euler_out.pitch));
- euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch),
- m_el[0].x()/btCos(euler_out2.pitch));
- }
-
- if (solution_number == 1)
- {
- yaw = euler_out.yaw;
- pitch = euler_out.pitch;
- roll = euler_out.roll;
- }
- else
- {
- yaw = euler_out2.yaw;
- pitch = euler_out2.pitch;
- roll = euler_out2.roll;
- }
- }
- /**@brief Create a scaled copy of the matrix
- * @param s Scaling vector The elements of the vector will scale each column */
-
- btMatrix3x3 scaled(const btVector3& s) const
- {
- return btMatrix3x3(m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
- m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
- m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
+ euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch),
+ m_el[0].x()/btCos(euler_out.pitch));
+ euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch),
+ m_el[0].x()/btCos(euler_out2.pitch));
}
- /**@brief Return the determinant of the matrix */
- btScalar determinant() const;
- /**@brief Return the adjoint of the matrix */
- btMatrix3x3 adjoint() const;
- /**@brief Return the matrix with all values non negative */
- btMatrix3x3 absolute() const;
- /**@brief Return the transpose of the matrix */
- btMatrix3x3 transpose() const;
- /**@brief Return the inverse of the matrix */
- btMatrix3x3 inverse() const;
-
- btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
- btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
-
- SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
- {
- return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
+ if (solution_number == 1)
+ {
+ yaw = euler_out.yaw;
+ pitch = euler_out.pitch;
+ roll = euler_out.roll;
}
- SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
- {
- return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
+ else
+ {
+ yaw = euler_out2.yaw;
+ pitch = euler_out2.pitch;
+ roll = euler_out2.roll;
}
- SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
- {
- return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
- }
-
+ }
- /**@brief diagonalizes this matrix by the Jacobi method.
- * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
- * coordinate system, i.e., old_this = rot * new_this * rot^T.
- * @param threshold See iteration
- * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
- * by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
- *
- * Note that this matrix is assumed to be symmetric.
- */
- void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
+ /**@brief Create a scaled copy of the matrix
+ * @param s Scaling vector The elements of the vector will scale each column */
+
+ btMatrix3x3 scaled(const btVector3& s) const
+ {
+ return btMatrix3x3(m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
+ m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
+ m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
+ }
+
+ /**@brief Return the determinant of the matrix */
+ btScalar determinant() const;
+ /**@brief Return the adjoint of the matrix */
+ btMatrix3x3 adjoint() const;
+ /**@brief Return the matrix with all values non negative */
+ btMatrix3x3 absolute() const;
+ /**@brief Return the transpose of the matrix */
+ btMatrix3x3 transpose() const;
+ /**@brief Return the inverse of the matrix */
+ btMatrix3x3 inverse() const;
+
+ btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
+ btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
+
+ SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
+ {
+ return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
+ }
+ SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
+ {
+ return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
+ }
+ SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
+ {
+ return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
+ }
+
+
+ /**@brief diagonalizes this matrix by the Jacobi method.
+ * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
+ * coordinate system, i.e., old_this = rot * new_this * rot^T.
+ * @param threshold See iteration
+ * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
+ * by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
+ *
+ * Note that this matrix is assumed to be symmetric.
+ */
+ void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
+ {
+ rot.setIdentity();
+ for (int step = maxSteps; step > 0; step--)
{
- rot.setIdentity();
- for (int step = maxSteps; step > 0; step--)
- {
// find off-diagonal element [p][q] with largest magnitude
int p = 0;
int q = 1;
@@ -408,27 +421,27 @@
btScalar v = btFabs(m_el[0][2]);
if (v > max)
{
- q = 2;
- r = 1;
- max = v;
+ q = 2;
+ r = 1;
+ max = v;
}
v = btFabs(m_el[1][2]);
if (v > max)
{
- p = 1;
- q = 2;
- r = 0;
- max = v;
+ p = 1;
+ q = 2;
+ r = 0;
+ max = v;
}
btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
if (max <= t)
{
- if (max <= SIMD_EPSILON * t)
- {
- return;
- }
- step = 1;
+ if (max <= SIMD_EPSILON * t)
+ {
+ return;
+ }
+ step = 1;
}
// compute Jacobi rotation J which leads to a zero for element [p][q]
@@ -439,17 +452,17 @@
btScalar sin;
if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
{
- t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
- : 1 / (theta - btSqrt(1 + theta2));
- cos = 1 / btSqrt(1 + t * t);
- sin = cos * t;
+ t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
+ : 1 / (theta - btSqrt(1 + theta2));
+ cos = 1 / btSqrt(1 + t * t);
+ sin = cos * t;
}
else
{
- // approximation for large theta-value, i.e., a nearly diagonal matrix
- t = 1 / (theta * (2 + btScalar(0.5) / theta2));
- cos = 1 - btScalar(0.5) * t * t;
- sin = cos * t;
+ // approximation for large theta-value, i.e., a nearly diagonal matrix
+ t = 1 / (theta * (2 + btScalar(0.5) / theta2));
+ cos = 1 - btScalar(0.5) * t * t;
+ sin = cos * t;
}
// apply rotation to matrix (this = J^T * this * J)
@@ -464,155 +477,212 @@
// apply rotation to rot (rot = rot * J)
for (int i = 0; i < 3; i++)
{
- btVector3& row = rot[i];
- mrp = row[p];
- mrq = row[q];
- row[p] = cos * mrp - sin * mrq;
- row[q] = cos * mrq + sin * mrp;
+ btVector3& row = rot[i];
+ mrp = row[p];
+ mrq = row[q];
+ row[p] = cos * mrp - sin * mrq;
+ row[q] = cos * mrq + sin * mrp;
}
- }
}
+ }
-
- protected:
- /**@brief Calculate the matrix cofactor
- * @param r1 The first row to use for calculating the cofactor
- * @param c1 The first column to use for calculating the cofactor
- * @param r1 The second row to use for calculating the cofactor
- * @param c1 The second column to use for calculating the cofactor
- * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
- */
- btScalar cofac(int r1, int c1, int r2, int c2) const
- {
- return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
- }
- ///Data storage for the matrix, each vector is a row of the matrix
- btVector3 m_el[3];
- };
-
- SIMD_FORCE_INLINE btMatrix3x3&
- btMatrix3x3::operator*=(const btMatrix3x3& m)
- {
- setValue(m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
- m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
- m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
- return *this;
- }
-
- SIMD_FORCE_INLINE btScalar
- btMatrix3x3::determinant() const
- {
- return triple((*this)[0], (*this)[1], (*this)[2]);
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::absolute() const
- {
- return btMatrix3x3(
- btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
- btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
- btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
- }
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::transpose() const
+ /**@brief Calculate the matrix cofactor
+ * @param r1 The first row to use for calculating the cofactor
+ * @param c1 The first column to use for calculating the cofactor
+ * @param r1 The second row to use for calculating the cofactor
+ * @param c1 The second column to use for calculating the cofactor
+ * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
+ */
+ btScalar cofac(int r1, int c1, int r2, int c2) const
{
- return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
- m_el[0].y(), m_el[1].y(), m_el[2].y(),
- m_el[0].z(), m_el[1].z(), m_el[2].z());
+ return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
}
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::adjoint() const
- {
- return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
- cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
- cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::inverse() const
- {
- btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
- btScalar det = (*this)[0].dot(co);
- btFullAssert(det != btScalar(0.0));
- btScalar s = btScalar(1.0) / det;
- return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
- co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
- co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
- {
- return btMatrix3x3(
- m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
- m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
- m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
- m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
- m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
- m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
- m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
- m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
- m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
- {
- return btMatrix3x3(
- m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
- m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
- m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
-
- }
- SIMD_FORCE_INLINE btVector3
- operator*(const btMatrix3x3& m, const btVector3& v)
- {
- return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
- }
-
+ void serialize(struct btMatrix3x3Data& dataOut) const;
- SIMD_FORCE_INLINE btVector3
- operator*(const btVector3& v, const btMatrix3x3& m)
- {
- return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
- }
+ void serializeFloat(struct btMatrix3x3FloatData& dataOut) const;
- SIMD_FORCE_INLINE btMatrix3x3
- operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
- {
- return btMatrix3x3(
- m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
- m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
- m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
- }
+ void deSerialize(const struct btMatrix3x3Data& dataIn);
+ void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn);
+
+ void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn);
+
+};
+
+
+SIMD_FORCE_INLINE btMatrix3x3&
+btMatrix3x3::operator*=(const btMatrix3x3& m)
+{
+ setValue(m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
+ m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
+ m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
+ return *this;
+}
+
+SIMD_FORCE_INLINE btScalar
+btMatrix3x3::determinant() const
+{
+ return btTriple((*this)[0], (*this)[1], (*this)[2]);
+}
+
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::absolute() const
+{
+ return btMatrix3x3(
+ btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
+ btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
+ btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::transpose() const
+{
+ return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
+ m_el[0].y(), m_el[1].y(), m_el[2].y(),
+ m_el[0].z(), m_el[1].z(), m_el[2].z());
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::adjoint() const
+{
+ return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
+ cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
+ cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::inverse() const
+{
+ btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
+ btScalar det = (*this)[0].dot(co);
+ btFullAssert(det != btScalar(0.0));
+ btScalar s = btScalar(1.0) / det;
+ return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
+ co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
+ co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
+{
+ return btMatrix3x3(
+ m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
+ m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
+ m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
+ m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
+ m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
+ m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
+ m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
+ m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
+ m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
+{
+ return btMatrix3x3(
+ m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
+ m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
+ m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
+
+}
+
+SIMD_FORCE_INLINE btVector3
+operator*(const btMatrix3x3& m, const btVector3& v)
+{
+ return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
+}
+
+
+SIMD_FORCE_INLINE btVector3
+operator*(const btVector3& v, const btMatrix3x3& m)
+{
+ return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
+{
+ return btMatrix3x3(
+ m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
+ m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
+ m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
+}
+
/*
- SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) {
- return btMatrix3x3(
- m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
- m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
- m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
- m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
- m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
- m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
- m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
- m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
- m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
+SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) {
+return btMatrix3x3(
+m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
+m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
+m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
+m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
+m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
+m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
+m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
+m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
+m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
}
*/
/**@brief Equality operator between two matrices
- * It will test all elements are equal. */
+* It will test all elements are equal. */
SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
{
- return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
- m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
- m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
+ return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
+ m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
+ m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
}
-#endif
+///for serialization
+struct btMatrix3x3FloatData
+{
+ btVector3FloatData m_el[3];
+};
+
+///for serialization
+struct btMatrix3x3DoubleData
+{
+ btVector3DoubleData m_el[3];
+};
+
+
+
+
+SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const
+{
+ for (int i=0;i<3;i++)
+ m_el[i].serialize(dataOut.m_el[i]);
+}
+
+SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const
+{
+ for (int i=0;i<3;i++)
+ m_el[i].serializeFloat(dataOut.m_el[i]);
+}
+
+
+SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn)
+{
+ for (int i=0;i<3;i++)
+ m_el[i].deSerialize(dataIn.m_el[i]);
+}
+
+SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn)
+{
+ for (int i=0;i<3;i++)
+ m_el[i].deSerializeFloat(dataIn.m_el[i]);
+}
+
+SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn)
+{
+ for (int i=0;i<3;i++)
+ m_el[i].deSerializeDouble(dataIn.m_el[i]);
+}
+
+#endif //BT_MATRIX3x3_H
+
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btMinMax.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btMinMax.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btMinMax.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -17,6 +17,8 @@
#ifndef GEN_MINMAX_H
#define GEN_MINMAX_H
+#include "LinearMath/btScalar.h"
+
template <class T>
SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b)
{
@@ -30,7 +32,7 @@
}
template <class T>
-SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub)
+SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub)
{
return a < lb ? lb : (ub < a ? ub : a);
}
@@ -54,7 +56,7 @@
}
template <class T>
-SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub)
+SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub)
{
if (a < lb)
{
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btPoolAllocator.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btPoolAllocator.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btPoolAllocator.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -57,6 +57,11 @@
return m_freeCount;
}
+ int getUsedCount() const
+ {
+ return m_maxElements - m_freeCount;
+ }
+
void* allocate(int size)
{
// release mode fix
@@ -96,7 +101,16 @@
return m_elemSize;
}
+ unsigned char* getPoolAddress()
+ {
+ return m_pool;
+ }
+ const unsigned char* getPoolAddress() const
+ {
+ return m_pool;
+ }
+
};
#endif //_BT_POOL_ALLOCATOR_H
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btQuaternion.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btQuaternion.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btQuaternion.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -209,8 +209,17 @@
return s;
}
+ /**@brief Return the axis of the rotation represented by this quaternion */
+ btVector3 getAxis() const
+ {
+ btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.));
+ if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
+ return btVector3(1.0, 0.0, 0.0); // Arbitrary
+ btScalar s = btSqrt(s_squared);
+ return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s);
+ }
- /**@brief Return the inverse of this quaternion */
+ /**@brief Return the inverse of this quaternion */
btQuaternion inverse() const
{
return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
@@ -252,6 +261,18 @@
return (-qd);
}
+ /**@todo document this and it's use */
+ SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const
+ {
+ btQuaternion diff,sum;
+ diff = *this - qd;
+ sum = *this + qd;
+ if( diff.dot(diff) < sum.dot(sum) )
+ return qd;
+ return (-qd);
+ }
+
+
/**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
* @param q The other quaternion to interpolate with
* @param t The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q.
@@ -264,10 +285,17 @@
btScalar d = btScalar(1.0) / btSin(theta);
btScalar s0 = btSin((btScalar(1.0) - t) * theta);
btScalar s1 = btSin(t * theta);
- return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
- (m_floats[1] * s0 + q.y() * s1) * d,
- (m_floats[2] * s0 + q.z() * s1) * d,
- (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+ if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+ return btQuaternion((m_floats[0] * s0 + -q.x() * s1) * d,
+ (m_floats[1] * s0 + -q.y() * s1) * d,
+ (m_floats[2] * s0 + -q.z() * s1) * d,
+ (m_floats[3] * s0 + -q.m_floats[3] * s1) * d);
+ else
+ return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
+ (m_floats[1] * s0 + q.y() * s1) * d,
+ (m_floats[2] * s0 + q.z() * s1) * d,
+ (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+
}
else
{
@@ -378,7 +406,11 @@
btScalar d = v0.dot(v1);
if (d < -1.0 + SIMD_EPSILON)
- return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
+ {
+ btVector3 n,unused;
+ btPlaneSpace1(v0,n,unused);
+ return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
+ }
btScalar s = btSqrt((1.0f + d) * 2.0f);
btScalar rs = 1.0f / s;
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.cpp
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,6 +1,6 @@
/*
-/***************************************************************************************************
+***************************************************************************************************
**
** profile.cpp
**
@@ -13,13 +13,232 @@
// Credits: The Clock class was inspired by the Timer classes in
// Ogre (www.ogre3d.org).
-#include "LinearMath/btQuickprof.h"
+#include "btQuickprof.h"
+#ifndef BT_NO_PROFILE
-#ifdef USE_BT_CLOCK
static btClock gProfileClock;
+
+#ifdef __CELLOS_LV2__
+#include <sys/sys_time.h>
+#include <sys/time_util.h>
+#include <stdio.h>
+#endif
+
+#if defined (SUNOS) || defined (__SUNOS__)
+#include <stdio.h>
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+
+#define BT_USE_WINDOWS_TIMERS
+#define WIN32_LEAN_AND_MEAN
+#define NOWINRES
+#define NOMCX
+#define NOIME
+
+#ifdef _XBOX
+ #include <Xtl.h>
+#else //_XBOX
+ #include <windows.h>
+#endif //_XBOX
+
+#include <time.h>
+
+
+#else //_WIN32
+#include <sys/time.h>
+#endif //_WIN32
+
+#define mymin(a,b) (a > b ? a : b)
+
+struct btClockData
+{
+
+#ifdef BT_USE_WINDOWS_TIMERS
+ LARGE_INTEGER mClockFrequency;
+ DWORD mStartTick;
+ LONGLONG mPrevElapsedTime;
+ LARGE_INTEGER mStartTime;
+#else
+#ifdef __CELLOS_LV2__
+ uint64_t mStartTime;
+#else
+ struct timeval mStartTime;
+#endif
+#endif //__CELLOS_LV2__
+
+};
+
+///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
+btClock::btClock()
+{
+ m_data = new btClockData;
+#ifdef BT_USE_WINDOWS_TIMERS
+ QueryPerformanceFrequency(&m_data->mClockFrequency);
+#endif
+ reset();
+}
+
+btClock::~btClock()
+{
+ delete m_data;
+}
+
+btClock::btClock(const btClock& other)
+{
+ m_data = new btClockData;
+ *m_data = *other.m_data;
+}
+
+btClock& btClock::operator=(const btClock& other)
+{
+ *m_data = *other.m_data;
+ return *this;
+}
+
+
+ /// Resets the initial reference time.
+void btClock::reset()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+ QueryPerformanceCounter(&m_data->mStartTime);
+ m_data->mStartTick = GetTickCount();
+ m_data->mPrevElapsedTime = 0;
+#else
+#ifdef __CELLOS_LV2__
+
+ typedef uint64_t ClockSize;
+ ClockSize newTime;
+ //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+ SYS_TIMEBASE_GET( newTime );
+ m_data->mStartTime = newTime;
+#else
+ gettimeofday(&m_data->mStartTime, 0);
+#endif
+#endif
+}
+
+/// Returns the time in ms since the last call to reset or since
+/// the btClock was created.
+unsigned long int btClock::getTimeMilliseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+ LARGE_INTEGER currentTime;
+ QueryPerformanceCounter(¤tTime);
+ LONGLONG elapsedTime = currentTime.QuadPart -
+ m_data->mStartTime.QuadPart;
+ // Compute the number of millisecond ticks elapsed.
+ unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+ // Check for unexpected leaps in the Win32 performance counter.
+ // (This is caused by unexpected data across the PCI to ISA
+ // bridge, aka south bridge. See Microsoft KB274323.)
+ unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+ signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+ if (msecOff < -100 || msecOff > 100)
+ {
+ // Adjust the starting time forwards.
+ LONGLONG msecAdjustment = mymin(msecOff *
+ m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
+ m_data->mPrevElapsedTime);
+ m_data->mStartTime.QuadPart += msecAdjustment;
+ elapsedTime -= msecAdjustment;
+
+ // Recompute the number of millisecond ticks elapsed.
+ msecTicks = (unsigned long)(1000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+ }
+
+ // Store the current elapsed time for adjustments next time.
+ m_data->mPrevElapsedTime = elapsedTime;
+
+ return msecTicks;
+#else
+
+#ifdef __CELLOS_LV2__
+ uint64_t freq=sys_time_get_timebase_frequency();
+ double dFreq=((double) freq) / 1000.0;
+ typedef uint64_t ClockSize;
+ ClockSize newTime;
+ SYS_TIMEBASE_GET( newTime );
+ //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+
+ return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+
+ struct timeval currentTime;
+ gettimeofday(¤tTime, 0);
+ return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
+ (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
+#endif //__CELLOS_LV2__
+#endif
+}
+
+ /// Returns the time in us since the last call to reset or since
+ /// the Clock was created.
+unsigned long int btClock::getTimeMicroseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+ LARGE_INTEGER currentTime;
+ QueryPerformanceCounter(¤tTime);
+ LONGLONG elapsedTime = currentTime.QuadPart -
+ m_data->mStartTime.QuadPart;
+
+ // Compute the number of millisecond ticks elapsed.
+ unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+
+ // Check for unexpected leaps in the Win32 performance counter.
+ // (This is caused by unexpected data across the PCI to ISA
+ // bridge, aka south bridge. See Microsoft KB274323.)
+ unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+ signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+ if (msecOff < -100 || msecOff > 100)
+ {
+ // Adjust the starting time forwards.
+ LONGLONG msecAdjustment = mymin(msecOff *
+ m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
+ m_data->mPrevElapsedTime);
+ m_data->mStartTime.QuadPart += msecAdjustment;
+ elapsedTime -= msecAdjustment;
+ }
+
+ // Store the current elapsed time for adjustments next time.
+ m_data->mPrevElapsedTime = elapsedTime;
+
+ // Convert to microseconds.
+ unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+
+ return usecTicks;
+#else
+
+#ifdef __CELLOS_LV2__
+ uint64_t freq=sys_time_get_timebase_frequency();
+ double dFreq=((double) freq)/ 1000000.0;
+ typedef uint64_t ClockSize;
+ ClockSize newTime;
+ //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+ SYS_TIMEBASE_GET( newTime );
+
+ return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+
+ struct timeval currentTime;
+ gettimeofday(¤tTime, 0);
+ return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
+ (currentTime.tv_usec - m_data->mStartTime.tv_usec);
+#endif//__CELLOS_LV2__
+#endif
+}
+
+
+
+
+
inline void Profile_Get_Ticks(unsigned long int * ticks)
{
*ticks = gProfileClock.getTimeMicroseconds();
@@ -342,5 +561,5 @@
-#endif //USE_BT_CLOCK
+#endif //BT_NO_PROFILE
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btQuickprof.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -18,216 +18,42 @@
//To disable built-in profiling, please comment out next line
//#define BT_NO_PROFILE 1
#ifndef BT_NO_PROFILE
-
+#include <stdio.h>//@todo remove this, backwards compatibility
#include "btScalar.h"
-#include "LinearMath/btAlignedAllocator.h"
+#include "btAlignedAllocator.h"
#include <new>
-//if you don't need btClock, you can comment next line
+
#define USE_BT_CLOCK 1
#ifdef USE_BT_CLOCK
-#ifdef __CELLOS_LV2__
-#include <sys/sys_time.h>
-#include <sys/time_util.h>
-#include <stdio.h>
-#endif
-#if defined (SUNOS) || defined (__SUNOS__)
-#include <stdio.h>
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-
-#define USE_WINDOWS_TIMERS
-#define WIN32_LEAN_AND_MEAN
-#define NOWINRES
-#define NOMCX
-#define NOIME
-#ifdef _XBOX
-#include <Xtl.h>
-#else
-#include <windows.h>
-#endif
-#include <time.h>
-
-#else
-#include <sys/time.h>
-#endif
-
-#define mymin(a,b) (a > b ? a : b)
-
///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
class btClock
{
public:
- btClock()
- {
-#ifdef USE_WINDOWS_TIMERS
- QueryPerformanceFrequency(&mClockFrequency);
-#endif
- reset();
- }
+ btClock();
- ~btClock()
- {
- }
+ btClock(const btClock& other);
+ btClock& operator=(const btClock& other);
+ ~btClock();
+
/// Resets the initial reference time.
- void reset()
- {
-#ifdef USE_WINDOWS_TIMERS
- QueryPerformanceCounter(&mStartTime);
- mStartTick = GetTickCount();
- mPrevElapsedTime = 0;
-#else
-#ifdef __CELLOS_LV2__
+ void reset();
- typedef uint64_t ClockSize;
- ClockSize newTime;
- //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
- SYS_TIMEBASE_GET( newTime );
- mStartTime = newTime;
-#else
- gettimeofday(&mStartTime, 0);
-#endif
-
-#endif
- }
-
/// Returns the time in ms since the last call to reset or since
/// the btClock was created.
- unsigned long int getTimeMilliseconds()
- {
-#ifdef USE_WINDOWS_TIMERS
- LARGE_INTEGER currentTime;
- QueryPerformanceCounter(¤tTime);
- LONGLONG elapsedTime = currentTime.QuadPart -
- mStartTime.QuadPart;
+ unsigned long int getTimeMilliseconds();
- // Compute the number of millisecond ticks elapsed.
- unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
- mClockFrequency.QuadPart);
-
- // Check for unexpected leaps in the Win32 performance counter.
- // (This is caused by unexpected data across the PCI to ISA
- // bridge, aka south bridge. See Microsoft KB274323.)
- unsigned long elapsedTicks = GetTickCount() - mStartTick;
- signed long msecOff = (signed long)(msecTicks - elapsedTicks);
- if (msecOff < -100 || msecOff > 100)
- {
- // Adjust the starting time forwards.
- LONGLONG msecAdjustment = mymin(msecOff *
- mClockFrequency.QuadPart / 1000, elapsedTime -
- mPrevElapsedTime);
- mStartTime.QuadPart += msecAdjustment;
- elapsedTime -= msecAdjustment;
-
- // Recompute the number of millisecond ticks elapsed.
- msecTicks = (unsigned long)(1000 * elapsedTime /
- mClockFrequency.QuadPart);
- }
-
- // Store the current elapsed time for adjustments next time.
- mPrevElapsedTime = elapsedTime;
-
- return msecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
- uint64_t freq=sys_time_get_timebase_frequency();
- double dFreq=((double) freq) / 1000.0;
- typedef uint64_t ClockSize;
- ClockSize newTime;
- SYS_TIMEBASE_GET( newTime );
- //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
- return (unsigned long int)((double(newTime-mStartTime)) / dFreq);
-#else
-
- struct timeval currentTime;
- gettimeofday(¤tTime, 0);
- return (currentTime.tv_sec - mStartTime.tv_sec) * 1000 +
- (currentTime.tv_usec - mStartTime.tv_usec) / 1000;
-#endif //__CELLOS_LV2__
-#endif
- }
-
/// Returns the time in us since the last call to reset or since
/// the Clock was created.
- unsigned long int getTimeMicroseconds()
- {
-#ifdef USE_WINDOWS_TIMERS
- LARGE_INTEGER currentTime;
- QueryPerformanceCounter(¤tTime);
- LONGLONG elapsedTime = currentTime.QuadPart -
- mStartTime.QuadPart;
-
- // Compute the number of millisecond ticks elapsed.
- unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
- mClockFrequency.QuadPart);
-
- // Check for unexpected leaps in the Win32 performance counter.
- // (This is caused by unexpected data across the PCI to ISA
- // bridge, aka south bridge. See Microsoft KB274323.)
- unsigned long elapsedTicks = GetTickCount() - mStartTick;
- signed long msecOff = (signed long)(msecTicks - elapsedTicks);
- if (msecOff < -100 || msecOff > 100)
- {
- // Adjust the starting time forwards.
- LONGLONG msecAdjustment = mymin(msecOff *
- mClockFrequency.QuadPart / 1000, elapsedTime -
- mPrevElapsedTime);
- mStartTime.QuadPart += msecAdjustment;
- elapsedTime -= msecAdjustment;
- }
-
- // Store the current elapsed time for adjustments next time.
- mPrevElapsedTime = elapsedTime;
-
- // Convert to microseconds.
- unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime /
- mClockFrequency.QuadPart);
-
- return usecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
- uint64_t freq=sys_time_get_timebase_frequency();
- double dFreq=((double) freq)/ 1000000.0;
- typedef uint64_t ClockSize;
- ClockSize newTime;
- //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
- SYS_TIMEBASE_GET( newTime );
-
- return (unsigned long int)((double(newTime-mStartTime)) / dFreq);
-#else
-
- struct timeval currentTime;
- gettimeofday(¤tTime, 0);
- return (currentTime.tv_sec - mStartTime.tv_sec) * 1000000 +
- (currentTime.tv_usec - mStartTime.tv_usec);
-#endif//__CELLOS_LV2__
-#endif
- }
-
+ unsigned long int getTimeMicroseconds();
private:
-#ifdef USE_WINDOWS_TIMERS
- LARGE_INTEGER mClockFrequency;
- DWORD mStartTick;
- LONGLONG mPrevElapsedTime;
- LARGE_INTEGER mStartTime;
-#else
-#ifdef __CELLOS_LV2__
- uint64_t mStartTime;
-#else
- struct timeval mStartTime;
-#endif
-#endif //__CELLOS_LV2__
-
+ struct btClockData* m_data;
};
#endif //USE_BT_CLOCK
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btScalar.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btScalar.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btScalar.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,5 +1,5 @@
/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com
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.
@@ -17,15 +17,20 @@
#ifndef SIMD___SCALAR_H
#define SIMD___SCALAR_H
+#ifdef BT_MANAGED_CODE
+//Aligned data types not supported in managed code
+#pragma unmanaged
+#endif
+
+
#include <math.h>
-
#include <stdlib.h>//size_t for MSVC 6.0
-
#include <cstdlib>
#include <cfloat>
#include <float.h>
-#define BT_BULLET_VERSION 274
+/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
+#define BT_BULLET_VERSION 277
inline int btGetVersion()
{
@@ -37,12 +42,13 @@
#endif
-#ifdef WIN32
+#ifdef _WIN32
#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
#define SIMD_FORCE_INLINE inline
#define ATTRIBUTE_ALIGNED16(a) a
+ #define ATTRIBUTE_ALIGNED64(a) a
#define ATTRIBUTE_ALIGNED128(a) a
#else
//#define BT_HAS_ALIGNED_ALLOCATOR
@@ -53,6 +59,7 @@
#define SIMD_FORCE_INLINE __forceinline
#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+ #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
#ifdef _XBOX
#define BT_USE_VMX128
@@ -62,7 +69,7 @@
#define btFsel(a,b,c) __fsel((a),(b),(c))
#else
-#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
+#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
#define BT_USE_SSE
#include <emmintrin.h>
#endif
@@ -86,15 +93,23 @@
#else
#if defined (__CELLOS_LV2__)
- #define SIMD_FORCE_INLINE inline
+ #define SIMD_FORCE_INLINE inline __attribute__((always_inline))
#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
#ifndef assert
#include <assert.h>
#endif
#ifdef BT_DEBUG
- #define btAssert assert
+#ifdef __SPU__
+#include <spu_printf.h>
+#define printf spu_printf
+ #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
#else
+ #define btAssert assert
+#endif
+
+#else
#define btAssert(x)
#endif
//btFullAssert is optional, slows down a lot
@@ -109,6 +124,7 @@
#define SIMD_FORCE_INLINE __inline
#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
#ifndef assert
#include <assert.h>
@@ -129,11 +145,39 @@
#else
//non-windows systems
+#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
+ #define BT_USE_SSE
+ #include <emmintrin.h>
+
+ #define SIMD_FORCE_INLINE inline
+///@todo: check out alignment methods for other platforms/compilers
+ #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+ #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
+ #ifndef assert
+ #include <assert.h>
+ #endif
+
+ #if defined(DEBUG) || defined (_DEBUG)
+ #define btAssert assert
+ #else
+ #define btAssert(x)
+ #endif
+
+ //btFullAssert is optional, slows down a lot
+ #define btFullAssert(x)
+ #define btLikely(_c) _c
+ #define btUnlikely(_c) _c
+
+#else
+
#define SIMD_FORCE_INLINE inline
///@todo: check out alignment methods for other platforms/compilers
///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
#define ATTRIBUTE_ALIGNED16(a) a
+ #define ATTRIBUTE_ALIGNED64(a) a
#define ATTRIBUTE_ALIGNED128(a) a
#ifndef assert
#include <assert.h>
@@ -149,27 +193,23 @@
#define btFullAssert(x)
#define btLikely(_c) _c
#define btUnlikely(_c) _c
+#endif //__APPLE__
-
#endif // LIBSPE2
#endif //__CELLOS_LV2__
#endif
-/// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.
-/// exclude Apple Intel (i's assumed to be a Macbook or new Intel Dual Core Processor)
-#if defined (__sun) || defined (__sun__) || defined (__sparc) || (defined (__APPLE__) && ! defined (__i386__))
-//use slow double float precision operation on those platforms
-#ifndef BT_USE_DOUBLE_PRECISION
-#define BT_FORCE_DOUBLE_FUNCTIONS
-#endif
-#endif
///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
#if defined(BT_USE_DOUBLE_PRECISION)
typedef double btScalar;
+//this number could be bigger in double precision
+#define BT_LARGE_FLOAT 1e30
#else
typedef float btScalar;
+//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX
+#define BT_LARGE_FLOAT 1e18f
#endif
@@ -193,13 +233,14 @@
SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
-SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acos(x); }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asin(x); }
+SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return acos(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return asin(x); }
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); }
+SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); }
#else
@@ -212,7 +253,7 @@
tempf = y;
*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
x = tempf;
- z = y*btScalar(0.5); /* hoist out the “/2” */
+ z = y*btScalar(0.5);
x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */
x = (btScalar(1.5)*x)-(x*x)*(x*z);
x = (btScalar(1.5)*x)-(x*x)*(x*z);
@@ -228,10 +269,19 @@
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
SIMD_FORCE_INLINE btScalar btAcos(btScalar x) {
- btAssert(x <= btScalar(1.));
+ if (x<btScalar(-1))
+ x=btScalar(-1);
+ if (x>btScalar(1))
+ x=btScalar(1);
return acosf(x);
}
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) {
+ if (x<btScalar(-1))
+ x=btScalar(-1);
+ if (x>btScalar(1))
+ x=btScalar(1);
+ return asinf(x);
+}
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
@@ -241,6 +291,7 @@
#else
SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
#endif
+SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#endif
@@ -249,7 +300,11 @@
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
+#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
+#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
+
+
#ifdef BT_USE_DOUBLE_PRECISION
#define SIMD_EPSILON DBL_EPSILON
#define SIMD_INFINITY DBL_MAX
@@ -439,5 +494,35 @@
return d;
}
+// returns normalized value in range [-SIMD_PI, SIMD_PI]
+SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
+{
+ angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
+ if(angleInRadians < -SIMD_PI)
+ {
+ return angleInRadians + SIMD_2_PI;
+ }
+ else if(angleInRadians > SIMD_PI)
+ {
+ return angleInRadians - SIMD_2_PI;
+ }
+ else
+ {
+ return angleInRadians;
+ }
+}
+///rudimentary class to provide type info
+struct btTypedObject
+{
+ btTypedObject(int objectType)
+ :m_objectType(objectType)
+ {
+ }
+ int m_objectType;
+ inline int getObjectType() const
+ {
+ return m_objectType;
+ }
+};
#endif //SIMD___SCALAR_H
Copied: code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.cpp (from rev 8096, code/branches/kicklib/src/external/bullet/LinearMath/btSerializer.cpp)
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.cpp (rev 0)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,577 @@
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+108,108,105,115,105,111,110,115,66,101,116,119,101,101,110,76,105,110,107,101,
+100,66,111,100,105,101,115,0,109,95,112,97,100,52,91,52,93,0,109,95,
+116,121,112,101,67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,109,
+95,112,105,118,111,116,73,110,65,0,109,95,112,105,118,111,116,73,110,66,
+0,109,95,114,98,65,70,114,97,109,101,0,109,95,114,98,66,70,114,97,
+109,101,0,109,95,117,115,101,82,101,102,101,114,101,110,99,101,70,114,97,
+109,101,65,0,109,95,97,110,103,117,108,97,114,79,110,108,121,0,109,95,
+101,110,97,98,108,101,65,110,103,117,108,97,114,77,111,116,111,114,0,109,
+95,109,111,116,111,114,84,97,114,103,101,116,86,101,108,111,99,105,116,121,
+0,109,95,109,97,120,77,111,116,111,114,73,109,112,117,108,115,101,0,109,
+95,108,111,119,101,114,76,105,109,105,116,0,109,95,117,112,112,101,114,76,
+105,109,105,116,0,109,95,108,105,109,105,116,83,111,102,116,110,101,115,115,
+0,109,95,98,105,97,115,70,97,99,116,111,114,0,109,95,114,101,108,97,
+120,97,116,105,111,110,70,97,99,116,111,114,0,109,95,115,119,105,110,103,
+83,112,97,110,49,0,109,95,115,119,105,110,103,83,112,97,110,50,0,109,
+95,116,119,105,115,116,83,112,97,110,0,109,95,100,97,109,112,105,110,103,
+0,109,95,108,105,110,101,97,114,85,112,112,101,114,76,105,109,105,116,0,
+109,95,108,105,110,101,97,114,76,111,119,101,114,76,105,109,105,116,0,109,
+95,97,110,103,117,108,97,114,85,112,112,101,114,76,105,109,105,116,0,109,
+95,97,110,103,117,108,97,114,76,111,119,101,114,76,105,109,105,116,0,109,
+95,117,115,101,76,105,110,101,97,114,82,101,102,101,114,101,110,99,101,70,
+114,97,109,101,65,0,109,95,117,115,101,79,102,102,115,101,116,70,111,114,
+67,111,110,115,116,114,97,105,110,116,70,114,97,109,101,0,84,89,80,69,
+58,0,0,0,99,104,97,114,0,117,99,104,97,114,0,115,104,111,114,116,
+0,117,115,104,111,114,116,0,105,110,116,0,108,111,110,103,0,117,108,111,
+110,103,0,102,108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100,
+0,80,111,105,110,116,101,114,65,114,114,97,121,0,98,116,80,104,121,115,
+105,99,115,83,121,115,116,101,109,0,76,105,115,116,66,97,115,101,0,98,
+116,86,101,99,116,111,114,51,70,108,111,97,116,68,97,116,97,0,98,116,
+86,101,99,116,111,114,51,68,111,117,98,108,101,68,97,116,97,0,98,116,
+77,97,116,114,105,120,51,120,51,70,108,111,97,116,68,97,116,97,0,98,
+116,77,97,116,114,105,120,51,120,51,68,111,117,98,108,101,68,97,116,97,
+0,98,116,84,114,97,110,115,102,111,114,109,70,108,111,97,116,68,97,116,
+97,0,98,116,84,114,97,110,115,102,111,114,109,68,111,117,98,108,101,68,
+97,116,97,0,98,116,66,118,104,83,117,98,116,114,101,101,73,110,102,111,
+68,97,116,97,0,98,116,79,112,116,105,109,105,122,101,100,66,118,104,78,
+111,100,101,70,108,111,97,116,68,97,116,97,0,98,116,79,112,116,105,109,
+105,122,101,100,66,118,104,78,111,100,101,68,111,117,98,108,101,68,97,116,
+97,0,98,116,81,117,97,110,116,105,122,101,100,66,118,104,78,111,100,101,
+68,97,116,97,0,98,116,81,117,97,110,116,105,122,101,100,66,118,104,70,
+108,111,97,116,68,97,116,97,0,98,116,81,117,97,110,116,105,122,101,100,
+66,118,104,68,111,117,98,108,101,68,97,116,97,0,98,116,67,111,108,108,
+105,115,105,111,110,83,104,97,112,101,68,97,116,97,0,98,116,83,116,97,
+116,105,99,80,108,97,110,101,83,104,97,112,101,68,97,116,97,0,98,116,
+67,111,110,118,101,120,73,110,116,101,114,110,97,108,83,104,97,112,101,68,
+97,116,97,0,98,116,80,111,115,105,116,105,111,110,65,110,100,82,97,100,
+105,117,115,0,98,116,77,117,108,116,105,83,112,104,101,114,101,83,104,97,
+112,101,68,97,116,97,0,98,116,73,110,116,73,110,100,101,120,68,97,116,
+97,0,98,116,83,104,111,114,116,73,110,116,73,110,100,101,120,68,97,116,
+97,0,98,116,83,104,111,114,116,73,110,116,73,110,100,101,120,84,114,105,
+112,108,101,116,68,97,116,97,0,98,116,77,101,115,104,80,97,114,116,68,
+97,116,97,0,98,116,83,116,114,105,100,105,110,103,77,101,115,104,73,110,
+116,101,114,102,97,99,101,68,97,116,97,0,98,116,84,114,105,97,110,103,
+108,101,77,101,115,104,83,104,97,112,101,68,97,116,97,0,98,116,84,114,
+105,97,110,103,108,101,73,110,102,111,77,97,112,68,97,116,97,0,98,116,
+67,111,109,112,111,117,110,100,83,104,97,112,101,67,104,105,108,100,68,97,
+116,97,0,98,116,67,111,109,112,111,117,110,100,83,104,97,112,101,68,97,
+116,97,0,98,116,67,121,108,105,110,100,101,114,83,104,97,112,101,68,97,
+116,97,0,98,116,67,97,112,115,117,108,101,83,104,97,112,101,68,97,116,
+97,0,98,116,84,114,105,97,110,103,108,101,73,110,102,111,68,97,116,97,
+0,98,116,71,73,109,112,97,99,116,77,101,115,104,83,104,97,112,101,68,
+97,116,97,0,98,116,67,111,110,118,101,120,72,117,108,108,83,104,97,112,
+101,68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,
+101,99,116,68,111,117,98,108,101,68,97,116,97,0,98,116,67,111,108,108,
+105,115,105,111,110,79,98,106,101,99,116,70,108,111,97,116,68,97,116,97,
+0,98,116,82,105,103,105,100,66,111,100,121,70,108,111,97,116,68,97,116,
+97,0,98,116,82,105,103,105,100,66,111,100,121,68,111,117,98,108,101,68,
+97,116,97,0,98,116,67,111,110,115,116,114,97,105,110,116,73,110,102,111,
+49,0,98,116,84,121,112,101,100,67,111,110,115,116,114,97,105,110,116,68,
+97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,68,97,116,97,0,
+98,116,80,111,105,110,116,50,80,111,105,110,116,67,111,110,115,116,114,97,
+105,110,116,70,108,111,97,116,68,97,116,97,0,98,116,80,111,105,110,116,
+50,80,111,105,110,116,67,111,110,115,116,114,97,105,110,116,68,111,117,98,
+108,101,68,97,116,97,0,98,116,72,105,110,103,101,67,111,110,115,116,114,
+97,105,110,116,68,111,117,98,108,101,68,97,116,97,0,98,116,72,105,110,
+103,101,67,111,110,115,116,114,97,105,110,116,70,108,111,97,116,68,97,116,
+97,0,98,116,67,111,110,101,84,119,105,115,116,67,111,110,115,116,114,97,
+105,110,116,68,97,116,97,0,98,116,71,101,110,101,114,105,99,54,68,111,
+102,67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,98,116,83,108,
+105,100,101,114,67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,0,
+84,76,69,78,1,0,1,0,2,0,2,0,4,0,4,0,4,0,4,0,
+8,0,0,0,16,0,48,0,16,0,16,0,32,0,48,0,96,0,64,0,
+-128,0,20,0,48,0,80,0,16,0,96,0,-112,0,16,0,56,0,56,0,
+20,0,72,0,4,0,4,0,8,0,48,0,32,0,80,0,72,0,80,0,
+32,0,64,0,64,0,16,0,72,0,80,0,-40,1,8,1,-16,1,-88,3,
+8,0,56,0,0,0,88,0,120,0,96,1,-32,0,-40,0,0,1,-48,0,
+83,84,82,67,47,0,0,0,10,0,3,0,4,0,0,0,4,0,1,0,
+9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,10,0,5,0,
+12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,7,0,8,0,
+14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,16,0,1,0,
+14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,
+16,0,10,0,14,0,11,0,19,0,4,0,4,0,12,0,4,0,13,0,
+2,0,14,0,2,0,15,0,20,0,6,0,13,0,16,0,13,0,17,0,
+4,0,18,0,4,0,19,0,4,0,20,0,0,0,21,0,21,0,6,0,
+14,0,16,0,14,0,17,0,4,0,18,0,4,0,19,0,4,0,20,0,
+0,0,21,0,22,0,3,0,2,0,14,0,2,0,15,0,4,0,22,0,
+23,0,12,0,13,0,23,0,13,0,24,0,13,0,25,0,4,0,26,0,
+4,0,27,0,4,0,28,0,4,0,29,0,20,0,30,0,22,0,31,0,
+19,0,32,0,4,0,33,0,4,0,34,0,24,0,12,0,14,0,23,0,
+14,0,24,0,14,0,25,0,4,0,26,0,4,0,27,0,4,0,28,0,
+4,0,29,0,21,0,30,0,22,0,31,0,4,0,33,0,4,0,34,0,
+19,0,32,0,25,0,3,0,0,0,35,0,4,0,36,0,0,0,37,0,
+26,0,5,0,25,0,38,0,13,0,39,0,13,0,40,0,7,0,41,0,
+0,0,21,0,27,0,5,0,25,0,38,0,13,0,39,0,13,0,42,0,
+7,0,43,0,4,0,44,0,28,0,2,0,13,0,45,0,7,0,46,0,
+29,0,4,0,27,0,47,0,28,0,48,0,4,0,49,0,0,0,37,0,
+30,0,1,0,4,0,50,0,31,0,2,0,2,0,50,0,0,0,51,0,
+32,0,2,0,2,0,52,0,0,0,51,0,33,0,7,0,13,0,53,0,
+14,0,54,0,30,0,55,0,32,0,56,0,31,0,57,0,4,0,58,0,
+4,0,59,0,34,0,4,0,33,0,60,0,13,0,61,0,4,0,62,0,
+0,0,37,0,35,0,7,0,25,0,38,0,34,0,63,0,23,0,64,0,
+24,0,65,0,36,0,66,0,7,0,43,0,0,0,67,0,37,0,4,0,
+17,0,68,0,25,0,69,0,4,0,70,0,7,0,71,0,38,0,4,0,
+25,0,38,0,37,0,72,0,4,0,73,0,7,0,43,0,39,0,3,0,
+27,0,47,0,4,0,74,0,0,0,37,0,40,0,3,0,27,0,47,0,
+4,0,74,0,0,0,37,0,41,0,4,0,4,0,75,0,7,0,76,0,
+7,0,77,0,7,0,78,0,36,0,14,0,4,0,79,0,4,0,80,0,
+41,0,81,0,4,0,82,0,7,0,83,0,7,0,84,0,7,0,85,0,
+7,0,86,0,7,0,87,0,4,0,88,0,4,0,89,0,4,0,90,0,
+4,0,91,0,0,0,37,0,42,0,5,0,25,0,38,0,34,0,63,0,
+13,0,39,0,7,0,43,0,4,0,92,0,43,0,5,0,27,0,47,0,
+13,0,93,0,14,0,94,0,4,0,95,0,0,0,96,0,44,0,24,0,
+9,0,97,0,9,0,98,0,25,0,99,0,0,0,35,0,18,0,100,0,
+18,0,101,0,14,0,102,0,14,0,103,0,14,0,104,0,8,0,105,0,
+8,0,106,0,8,0,107,0,8,0,108,0,8,0,109,0,8,0,110,0,
+8,0,111,0,4,0,112,0,4,0,113,0,4,0,114,0,4,0,115,0,
+4,0,116,0,4,0,117,0,4,0,118,0,0,0,37,0,45,0,23,0,
+9,0,97,0,9,0,98,0,25,0,99,0,0,0,35,0,17,0,100,0,
+17,0,101,0,13,0,102,0,13,0,103,0,13,0,104,0,7,0,105,0,
+7,0,106,0,7,0,107,0,7,0,108,0,7,0,109,0,7,0,110,0,
+7,0,111,0,4,0,112,0,4,0,113,0,4,0,114,0,4,0,115,0,
+4,0,116,0,4,0,117,0,4,0,118,0,46,0,21,0,45,0,119,0,
+15,0,120,0,13,0,121,0,13,0,122,0,13,0,123,0,13,0,124,0,
+13,0,125,0,13,0,126,0,13,0,127,0,13,0,-128,0,13,0,-127,0,
+7,0,-126,0,7,0,-125,0,7,0,-124,0,7,0,-123,0,7,0,-122,0,
+7,0,-121,0,7,0,-120,0,7,0,-119,0,7,0,-118,0,4,0,-117,0,
+47,0,22,0,44,0,119,0,16,0,120,0,14,0,121,0,14,0,122,0,
+14,0,123,0,14,0,124,0,14,0,125,0,14,0,126,0,14,0,127,0,
+14,0,-128,0,14,0,-127,0,8,0,-126,0,8,0,-125,0,8,0,-124,0,
+8,0,-123,0,8,0,-122,0,8,0,-121,0,8,0,-120,0,8,0,-119,0,
+8,0,-118,0,4,0,-117,0,0,0,37,0,48,0,2,0,4,0,-116,0,
+4,0,-115,0,49,0,11,0,50,0,-114,0,50,0,-113,0,0,0,35,0,
+4,0,-112,0,4,0,-111,0,4,0,-110,0,4,0,-109,0,7,0,-108,0,
+7,0,-107,0,4,0,-106,0,0,0,-105,0,51,0,3,0,49,0,-104,0,
+13,0,-103,0,13,0,-102,0,52,0,3,0,49,0,-104,0,14,0,-103,0,
+14,0,-102,0,53,0,13,0,49,0,-104,0,18,0,-101,0,18,0,-100,0,
+4,0,-99,0,4,0,-98,0,4,0,-97,0,7,0,-96,0,7,0,-95,0,
+7,0,-94,0,7,0,-93,0,7,0,-92,0,7,0,-91,0,7,0,-90,0,
+54,0,13,0,49,0,-104,0,17,0,-101,0,17,0,-100,0,4,0,-99,0,
+4,0,-98,0,4,0,-97,0,7,0,-96,0,7,0,-95,0,7,0,-94,0,
+7,0,-93,0,7,0,-92,0,7,0,-91,0,7,0,-90,0,55,0,11,0,
+49,0,-104,0,17,0,-101,0,17,0,-100,0,7,0,-89,0,7,0,-88,0,
+7,0,-87,0,7,0,-92,0,7,0,-91,0,7,0,-90,0,7,0,-86,0,
+0,0,21,0,56,0,9,0,49,0,-104,0,17,0,-101,0,17,0,-100,0,
+13,0,-85,0,13,0,-84,0,13,0,-83,0,13,0,-82,0,4,0,-81,0,
+4,0,-80,0,57,0,9,0,49,0,-104,0,17,0,-101,0,17,0,-100,0,
+7,0,-85,0,7,0,-84,0,7,0,-83,0,7,0,-82,0,4,0,-81,0,
+4,0,-80,0,};
+int sBulletDNAlen64= sizeof(sBulletDNAstr64);
+
+unsigned char sBulletDNAstr[]= {
+83,68,78,65,78,65,77,69,-79,0,0,0,109,95,115,105,122,101,0,109,
+95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
+99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
+108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
+115,116,114,97,105,110,116,115,0,42,102,105,114,115,116,0,42,108,97,115,
+116,0,109,95,102,108,111,97,116,115,91,52,93,0,109,95,101,108,91,51,
+93,0,109,95,98,97,115,105,115,0,109,95,111,114,105,103,105,110,0,109,
+95,114,111,111,116,78,111,100,101,73,110,100,101,120,0,109,95,115,117,98,
+116,114,101,101,83,105,122,101,0,109,95,113,117,97,110,116,105,122,101,100,
+65,97,98,98,77,105,110,91,51,93,0,109,95,113,117,97,110,116,105,122,
+101,100,65,97,98,98,77,97,120,91,51,93,0,109,95,97,97,98,98,77,
+105,110,79,114,103,0,109,95,97,97,98,98,77,97,120,79,114,103,0,109,
+95,101,115,99,97,112,101,73,110,100,101,120,0,109,95,115,117,98,80,97,
+114,116,0,109,95,116,114,105,97,110,103,108,101,73,110,100,101,120,0,109,
+95,112,97,100,91,52,93,0,109,95,101,115,99,97,112,101,73,110,100,101,
+120,79,114,84,114,105,97,110,103,108,101,73,110,100,101,120,0,109,95,98,
+118,104,65,97,98,98,77,105,110,0,109,95,98,118,104,65,97,98,98,77,
+97,120,0,109,95,98,118,104,81,117,97,110,116,105,122,97,116,105,111,110,
+0,109,95,99,117,114,78,111,100,101,73,110,100,101,120,0,109,95,117,115,
+101,81,117,97,110,116,105,122,97,116,105,111,110,0,109,95,110,117,109,67,
+111,110,116,105,103,117,111,117,115,76,101,97,102,78,111,100,101,115,0,109,
+95,110,117,109,81,117,97,110,116,105,122,101,100,67,111,110,116,105,103,117,
+111,117,115,78,111,100,101,115,0,42,109,95,99,111,110,116,105,103,117,111,
+117,115,78,111,100,101,115,80,116,114,0,42,109,95,113,117,97,110,116,105,
+122,101,100,67,111,110,116,105,103,117,111,117,115,78,111,100,101,115,80,116,
+114,0,42,109,95,115,117,98,84,114,101,101,73,110,102,111,80,116,114,0,
+109,95,116,114,97,118,101,114,115,97,108,77,111,100,101,0,109,95,110,117,
+109,83,117,98,116,114,101,101,72,101,97,100,101,114,115,0,42,109,95,110,
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+14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,
+16,0,10,0,14,0,11,0,19,0,4,0,4,0,12,0,4,0,13,0,
+2,0,14,0,2,0,15,0,20,0,6,0,13,0,16,0,13,0,17,0,
+4,0,18,0,4,0,19,0,4,0,20,0,0,0,21,0,21,0,6,0,
+14,0,16,0,14,0,17,0,4,0,18,0,4,0,19,0,4,0,20,0,
+0,0,21,0,22,0,3,0,2,0,14,0,2,0,15,0,4,0,22,0,
+23,0,12,0,13,0,23,0,13,0,24,0,13,0,25,0,4,0,26,0,
+4,0,27,0,4,0,28,0,4,0,29,0,20,0,30,0,22,0,31,0,
+19,0,32,0,4,0,33,0,4,0,34,0,24,0,12,0,14,0,23,0,
+14,0,24,0,14,0,25,0,4,0,26,0,4,0,27,0,4,0,28,0,
+4,0,29,0,21,0,30,0,22,0,31,0,4,0,33,0,4,0,34,0,
+19,0,32,0,25,0,3,0,0,0,35,0,4,0,36,0,0,0,37,0,
+26,0,5,0,25,0,38,0,13,0,39,0,13,0,40,0,7,0,41,0,
+0,0,21,0,27,0,5,0,25,0,38,0,13,0,39,0,13,0,42,0,
+7,0,43,0,4,0,44,0,28,0,2,0,13,0,45,0,7,0,46,0,
+29,0,4,0,27,0,47,0,28,0,48,0,4,0,49,0,0,0,37,0,
+30,0,1,0,4,0,50,0,31,0,2,0,2,0,50,0,0,0,51,0,
+32,0,2,0,2,0,52,0,0,0,51,0,33,0,7,0,13,0,53,0,
+14,0,54,0,30,0,55,0,32,0,56,0,31,0,57,0,4,0,58,0,
+4,0,59,0,34,0,4,0,33,0,60,0,13,0,61,0,4,0,62,0,
+0,0,37,0,35,0,7,0,25,0,38,0,34,0,63,0,23,0,64,0,
+24,0,65,0,36,0,66,0,7,0,43,0,0,0,67,0,37,0,4,0,
+17,0,68,0,25,0,69,0,4,0,70,0,7,0,71,0,38,0,4,0,
+25,0,38,0,37,0,72,0,4,0,73,0,7,0,43,0,39,0,3,0,
+27,0,47,0,4,0,74,0,0,0,37,0,40,0,3,0,27,0,47,0,
+4,0,74,0,0,0,37,0,41,0,4,0,4,0,75,0,7,0,76,0,
+7,0,77,0,7,0,78,0,36,0,14,0,4,0,79,0,4,0,80,0,
+41,0,81,0,4,0,82,0,7,0,83,0,7,0,84,0,7,0,85,0,
+7,0,86,0,7,0,87,0,4,0,88,0,4,0,89,0,4,0,90,0,
+4,0,91,0,0,0,37,0,42,0,5,0,25,0,38,0,34,0,63,0,
+13,0,39,0,7,0,43,0,4,0,92,0,43,0,5,0,27,0,47,0,
+13,0,93,0,14,0,94,0,4,0,95,0,0,0,96,0,44,0,24,0,
+9,0,97,0,9,0,98,0,25,0,99,0,0,0,35,0,18,0,100,0,
+18,0,101,0,14,0,102,0,14,0,103,0,14,0,104,0,8,0,105,0,
+8,0,106,0,8,0,107,0,8,0,108,0,8,0,109,0,8,0,110,0,
+8,0,111,0,4,0,112,0,4,0,113,0,4,0,114,0,4,0,115,0,
+4,0,116,0,4,0,117,0,4,0,118,0,0,0,37,0,45,0,23,0,
+9,0,97,0,9,0,98,0,25,0,99,0,0,0,35,0,17,0,100,0,
+17,0,101,0,13,0,102,0,13,0,103,0,13,0,104,0,7,0,105,0,
+7,0,106,0,7,0,107,0,7,0,108,0,7,0,109,0,7,0,110,0,
+7,0,111,0,4,0,112,0,4,0,113,0,4,0,114,0,4,0,115,0,
+4,0,116,0,4,0,117,0,4,0,118,0,46,0,21,0,45,0,119,0,
+15,0,120,0,13,0,121,0,13,0,122,0,13,0,123,0,13,0,124,0,
+13,0,125,0,13,0,126,0,13,0,127,0,13,0,-128,0,13,0,-127,0,
+7,0,-126,0,7,0,-125,0,7,0,-124,0,7,0,-123,0,7,0,-122,0,
+7,0,-121,0,7,0,-120,0,7,0,-119,0,7,0,-118,0,4,0,-117,0,
+47,0,22,0,44,0,119,0,16,0,120,0,14,0,121,0,14,0,122,0,
+14,0,123,0,14,0,124,0,14,0,125,0,14,0,126,0,14,0,127,0,
+14,0,-128,0,14,0,-127,0,8,0,-126,0,8,0,-125,0,8,0,-124,0,
+8,0,-123,0,8,0,-122,0,8,0,-121,0,8,0,-120,0,8,0,-119,0,
+8,0,-118,0,4,0,-117,0,0,0,37,0,48,0,2,0,4,0,-116,0,
+4,0,-115,0,49,0,11,0,50,0,-114,0,50,0,-113,0,0,0,35,0,
+4,0,-112,0,4,0,-111,0,4,0,-110,0,4,0,-109,0,7,0,-108,0,
+7,0,-107,0,4,0,-106,0,0,0,-105,0,51,0,3,0,49,0,-104,0,
+13,0,-103,0,13,0,-102,0,52,0,3,0,49,0,-104,0,14,0,-103,0,
+14,0,-102,0,53,0,13,0,49,0,-104,0,18,0,-101,0,18,0,-100,0,
+4,0,-99,0,4,0,-98,0,4,0,-97,0,7,0,-96,0,7,0,-95,0,
+7,0,-94,0,7,0,-93,0,7,0,-92,0,7,0,-91,0,7,0,-90,0,
+54,0,13,0,49,0,-104,0,17,0,-101,0,17,0,-100,0,4,0,-99,0,
+4,0,-98,0,4,0,-97,0,7,0,-96,0,7,0,-95,0,7,0,-94,0,
+7,0,-93,0,7,0,-92,0,7,0,-91,0,7,0,-90,0,55,0,11,0,
+49,0,-104,0,17,0,-101,0,17,0,-100,0,7,0,-89,0,7,0,-88,0,
+7,0,-87,0,7,0,-92,0,7,0,-91,0,7,0,-90,0,7,0,-86,0,
+0,0,21,0,56,0,9,0,49,0,-104,0,17,0,-101,0,17,0,-100,0,
+13,0,-85,0,13,0,-84,0,13,0,-83,0,13,0,-82,0,4,0,-81,0,
+4,0,-80,0,57,0,9,0,49,0,-104,0,17,0,-101,0,17,0,-100,0,
+7,0,-85,0,7,0,-84,0,7,0,-83,0,7,0,-82,0,4,0,-81,0,
+4,0,-80,0,};
+int sBulletDNAlen= sizeof(sBulletDNAstr);
Copied: code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.h (from rev 8096, code/branches/kicklib/src/external/bullet/LinearMath/btSerializer.h)
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.h (rev 0)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btSerializer.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,606 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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.
+*/
+
+#ifndef BT_SERIALIZER_H
+#define BT_SERIALIZER_H
+
+#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
+#include "btStackAlloc.h"
+#include "btHashMap.h"
+
+#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#include <memory.h>
+#endif
+#include <string.h>
+
+
+
+///only the 32bit versions for now
+extern unsigned char sBulletDNAstr[];
+extern int sBulletDNAlen;
+extern unsigned char sBulletDNAstr64[];
+extern int sBulletDNAlen64;
+
+SIMD_FORCE_INLINE int btStrLen(const char* str)
+{
+ if (!str)
+ return(0);
+ int len = 0;
+
+ while (*str != 0)
+ {
+ str++;
+ len++;
+ }
+
+ return len;
+}
+
+
+class btChunk
+{
+public:
+ int m_chunkCode;
+ int m_length;
+ void *m_oldPtr;
+ int m_dna_nr;
+ int m_number;
+};
+
+enum btSerializationFlags
+{
+ BT_SERIALIZE_NO_BVH = 1,
+ BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
+ BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4
+};
+
+class btSerializer
+{
+
+public:
+
+ virtual ~btSerializer() {}
+
+ virtual const unsigned char* getBufferPointer() const = 0;
+
+ virtual int getCurrentBufferSize() const = 0;
+
+ virtual btChunk* allocate(size_t size, int numElements) = 0;
+
+ virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0;
+
+ virtual void* findPointer(void* oldPtr) = 0;
+
+ virtual void* getUniquePointer(void*oldPtr) = 0;
+
+ virtual void startSerialization() = 0;
+
+ virtual void finishSerialization() = 0;
+
+ virtual const char* findNameForPointer(const void* ptr) const = 0;
+
+ virtual void registerNameForPointer(const void* ptr, const char* name) = 0;
+
+ virtual void serializeName(const char* ptr) = 0;
+
+ virtual int getSerializationFlags() const = 0;
+
+ virtual void setSerializationFlags(int flags) = 0;
+
+
+};
+
+
+
+#define BT_HEADER_LENGTH 12
+#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
+# define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
+#else
+# define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
+#endif
+
+#define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J')
+#define BT_RIGIDBODY_CODE MAKE_ID('R','B','D','Y')
+#define BT_CONSTRAINT_CODE MAKE_ID('C','O','N','S')
+#define BT_BOXSHAPE_CODE MAKE_ID('B','O','X','S')
+#define BT_QUANTIZED_BVH_CODE MAKE_ID('Q','B','V','H')
+#define BT_TRIANLGE_INFO_MAP MAKE_ID('T','M','A','P')
+#define BT_SHAPE_CODE MAKE_ID('S','H','A','P')
+#define BT_ARRAY_CODE MAKE_ID('A','R','A','Y')
+#define BT_DNA_CODE MAKE_ID('D','N','A','1')
+
+
+
+struct btPointerUid
+{
+ union
+ {
+ void* m_ptr;
+ int m_uniqueIds[2];
+ };
+};
+
+
+class btDefaultSerializer : public btSerializer
+{
+
+
+ btAlignedObjectArray<char*> mTypes;
+ btAlignedObjectArray<short*> mStructs;
+ btAlignedObjectArray<short> mTlens;
+ btHashMap<btHashInt, int> mStructReverse;
+ btHashMap<btHashString,int> mTypeLookup;
+
+
+ btHashMap<btHashPtr,void*> m_chunkP;
+
+ btHashMap<btHashPtr,const char*> m_nameMap;
+
+ btHashMap<btHashPtr,btPointerUid> m_uniquePointers;
+ int m_uniqueIdGenerator;
+
+ int m_totalSize;
+ unsigned char* m_buffer;
+ int m_currentSize;
+ void* m_dna;
+ int m_dnaLength;
+
+ int m_serializationFlags;
+
+
+ btAlignedObjectArray<btChunk*> m_chunkPtrs;
+
+protected:
+
+ virtual void* findPointer(void* oldPtr)
+ {
+ void** ptr = m_chunkP.find(oldPtr);
+ if (ptr && *ptr)
+ return *ptr;
+ return 0;
+ }
+
+
+
+
+
+ void writeDNA()
+ {
+ btChunk* dnaChunk = allocate(m_dnaLength,1);
+ memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength);
+ finalizeChunk(dnaChunk,"DNA1",BT_DNA_CODE, m_dna);
+ }
+
+ int getReverseType(const char *type) const
+ {
+
+ btHashString key(type);
+ const int* valuePtr = mTypeLookup.find(key);
+ if (valuePtr)
+ return *valuePtr;
+
+ return -1;
+ }
+
+ void initDNA(const char* bdnaOrg,int dnalen)
+ {
+ ///was already initialized
+ if (m_dna)
+ return;
+
+ int littleEndian= 1;
+ littleEndian= ((char*)&littleEndian)[0];
+
+
+ m_dna = btAlignedAlloc(dnalen,16);
+ memcpy(m_dna,bdnaOrg,dnalen);
+ m_dnaLength = dnalen;
+
+ int *intPtr=0;
+ short *shtPtr=0;
+ char *cp = 0;int dataLen =0;long nr=0;
+ intPtr = (int*)m_dna;
+
+ /*
+ SDNA (4 bytes) (magic number)
+ NAME (4 bytes)
+ <nr> (4 bytes) amount of names (int)
+ <string>
+ <string>
+ */
+
+ if (strncmp((const char*)m_dna, "SDNA", 4)==0)
+ {
+ // skip ++ NAME
+ intPtr++; intPtr++;
+ }
+
+ // Parse names
+ if (!littleEndian)
+ *intPtr = btSwapEndian(*intPtr);
+
+ dataLen = *intPtr;
+
+ intPtr++;
+
+ cp = (char*)intPtr;
+ int i;
+ for ( i=0; i<dataLen; i++)
+ {
+
+ while (*cp)cp++;
+ cp++;
+ }
+ {
+ nr= (long)cp;
+ // long mask=3;
+ nr= ((nr+3)&~3)-nr;
+ while (nr--)
+ {
+ cp++;
+ }
+ }
+
+ /*
+ TYPE (4 bytes)
+ <nr> amount of types (int)
+ <string>
+ <string>
+ */
+
+ intPtr = (int*)cp;
+ assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+
+ if (!littleEndian)
+ *intPtr = btSwapEndian(*intPtr);
+
+ dataLen = *intPtr;
+ intPtr++;
+
+
+ cp = (char*)intPtr;
+ for (i=0; i<dataLen; i++)
+ {
+ mTypes.push_back(cp);
+ while (*cp)cp++;
+ cp++;
+ }
+
+ {
+ nr= (long)cp;
+ // long mask=3;
+ nr= ((nr+3)&~3)-nr;
+ while (nr--)
+ {
+ cp++;
+ }
+ }
+
+
+ /*
+ TLEN (4 bytes)
+ <len> (short) the lengths of types
+ <len>
+ */
+
+ // Parse type lens
+ intPtr = (int*)cp;
+ assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+
+ dataLen = (int)mTypes.size();
+
+ shtPtr = (short*)intPtr;
+ for (i=0; i<dataLen; i++, shtPtr++)
+ {
+ if (!littleEndian)
+ shtPtr[0] = btSwapEndian(shtPtr[0]);
+ mTlens.push_back(shtPtr[0]);
+ }
+
+ if (dataLen & 1) shtPtr++;
+
+ /*
+ STRC (4 bytes)
+ <nr> amount of structs (int)
+ <typenr>
+ <nr_of_elems>
+ <typenr>
+ <namenr>
+ <typenr>
+ <namenr>
+ */
+
+ intPtr = (int*)shtPtr;
+ cp = (char*)intPtr;
+ assert(strncmp(cp, "STRC", 4)==0); intPtr++;
+
+ if (!littleEndian)
+ *intPtr = btSwapEndian(*intPtr);
+ dataLen = *intPtr ;
+ intPtr++;
+
+
+ shtPtr = (short*)intPtr;
+ for (i=0; i<dataLen; i++)
+ {
+ mStructs.push_back (shtPtr);
+
+ if (!littleEndian)
+ {
+ shtPtr[0]= btSwapEndian(shtPtr[0]);
+ shtPtr[1]= btSwapEndian(shtPtr[1]);
+
+ int len = shtPtr[1];
+ shtPtr+= 2;
+
+ for (int a=0; a<len; a++, shtPtr+=2)
+ {
+ shtPtr[0]= btSwapEndian(shtPtr[0]);
+ shtPtr[1]= btSwapEndian(shtPtr[1]);
+ }
+
+ } else
+ {
+ shtPtr+= (2*shtPtr[1])+2;
+ }
+ }
+
+ // build reverse lookups
+ for (i=0; i<(int)mStructs.size(); i++)
+ {
+ short *strc = mStructs.at(i);
+ mStructReverse.insert(strc[0], i);
+ mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
+ }
+ }
+
+public:
+
+
+
+
+ btDefaultSerializer(int totalSize)
+ :m_totalSize(totalSize),
+ m_currentSize(0),
+ m_dna(0),
+ m_dnaLength(0),
+ m_serializationFlags(0)
+ {
+ m_buffer = (unsigned char*)btAlignedAlloc(totalSize, 16);
+
+ const bool VOID_IS_8 = ((sizeof(void*)==8));
+
+#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+ if (VOID_IS_8)
+ {
+#if _WIN64
+ initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+#else
+ btAssert(0);
+#endif
+ } else
+ {
+#ifndef _WIN64
+ initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+#else
+ btAssert(0);
+#endif
+ }
+
+#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+ if (VOID_IS_8)
+ {
+ initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+ } else
+ {
+ initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+ }
+#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+
+ }
+
+ virtual ~btDefaultSerializer()
+ {
+ if (m_buffer)
+ btAlignedFree(m_buffer);
+ if (m_dna)
+ btAlignedFree(m_dna);
+ }
+
+ virtual void startSerialization()
+ {
+ m_uniqueIdGenerator= 1;
+
+ m_currentSize = BT_HEADER_LENGTH;
+
+#ifdef BT_USE_DOUBLE_PRECISION
+ memcpy(m_buffer, "BULLETd", 7);
+#else
+ memcpy(m_buffer, "BULLETf", 7);
+#endif //BT_USE_DOUBLE_PRECISION
+
+ int littleEndian= 1;
+ littleEndian= ((char*)&littleEndian)[0];
+
+ if (sizeof(void*)==8)
+ {
+ m_buffer[7] = '-';
+ } else
+ {
+ m_buffer[7] = '_';
+ }
+
+ if (littleEndian)
+ {
+ m_buffer[8]='v';
+ } else
+ {
+ m_buffer[8]='V';
+ }
+
+
+ m_buffer[9] = '2';
+ m_buffer[10] = '7';
+ m_buffer[11] = '7';
+
+
+ }
+
+ virtual void finishSerialization()
+ {
+ writeDNA();
+
+
+ mTypes.clear();
+ mStructs.clear();
+ mTlens.clear();
+ mStructReverse.clear();
+ mTypeLookup.clear();
+ m_chunkP.clear();
+ m_nameMap.clear();
+ m_uniquePointers.clear();
+ }
+
+ virtual void* getUniquePointer(void*oldPtr)
+ {
+ if (!oldPtr)
+ return 0;
+
+ btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr);
+ if (uptr)
+ {
+ return uptr->m_ptr;
+ }
+ m_uniqueIdGenerator++;
+
+ btPointerUid uid;
+ uid.m_uniqueIds[0] = m_uniqueIdGenerator;
+ uid.m_uniqueIds[1] = m_uniqueIdGenerator;
+ m_uniquePointers.insert(oldPtr,uid);
+ return uid.m_ptr;
+
+ }
+
+ virtual const unsigned char* getBufferPointer() const
+ {
+ return m_buffer;
+ }
+
+ virtual int getCurrentBufferSize() const
+ {
+ return m_currentSize;
+ }
+
+ virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
+ {
+ if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT))
+ {
+ btAssert(!findPointer(oldPtr));
+ }
+
+ chunk->m_dna_nr = getReverseType(structType);
+
+ chunk->m_chunkCode = chunkCode;
+
+ void* uniquePtr = getUniquePointer(oldPtr);
+
+ m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr);
+ chunk->m_oldPtr = uniquePtr;//oldPtr;
+
+ }
+
+
+
+
+
+ virtual btChunk* allocate(size_t size, int numElements)
+ {
+
+ unsigned char* ptr = m_buffer+m_currentSize;
+ m_currentSize += int(size)*numElements+sizeof(btChunk);
+ btAssert(m_currentSize<m_totalSize);
+
+ unsigned char* data = ptr + sizeof(btChunk);
+
+ btChunk* chunk = (btChunk*)ptr;
+ chunk->m_chunkCode = 0;
+ chunk->m_oldPtr = data;
+ chunk->m_length = int(size)*numElements;
+ chunk->m_number = numElements;
+
+ m_chunkPtrs.push_back(chunk);
+
+
+ return chunk;
+ }
+
+ virtual const char* findNameForPointer(const void* ptr) const
+ {
+ const char*const * namePtr = m_nameMap.find(ptr);
+ if (namePtr && *namePtr)
+ return *namePtr;
+ return 0;
+
+ }
+
+ virtual void registerNameForPointer(const void* ptr, const char* name)
+ {
+ m_nameMap.insert(ptr,name);
+ }
+
+ virtual void serializeName(const char* name)
+ {
+ if (name)
+ {
+ //don't serialize name twice
+ if (findPointer((void*)name))
+ return;
+
+ int len = btStrLen(name);
+ if (len)
+ {
+
+ int newLen = len+1;
+ int padding = ((newLen+3)&~3)-newLen;
+ newLen += padding;
+
+ //serialize name string now
+ btChunk* chunk = allocate(sizeof(char),newLen);
+ char* destinationName = (char*)chunk->m_oldPtr;
+ for (int i=0;i<len;i++)
+ {
+ destinationName[i] = name[i];
+ }
+ destinationName[len] = 0;
+ finalizeChunk(chunk,"char",BT_ARRAY_CODE,(void*)name);
+ }
+ }
+ }
+
+ virtual int getSerializationFlags() const
+ {
+ return m_serializationFlags;
+ }
+
+ virtual void setSerializationFlags(int flags)
+ {
+ m_serializationFlags = flags;
+ }
+
+};
+
+
+#endif //BT_SERIALIZER_H
+
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btTransform.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btTransform.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btTransform.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -17,14 +17,26 @@
#ifndef btTransform_H
#define btTransform_H
-#include "btVector3.h"
+
#include "btMatrix3x3.h"
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btTransformData btTransformDoubleData
+#else
+#define btTransformData btTransformFloatData
+#endif
+
+
+
/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
*It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
class btTransform {
+ ///Storage for the rotation
+ btMatrix3x3 m_basis;
+ ///Storage for the translation
+ btVector3 m_origin;
public:
@@ -195,12 +207,17 @@
static const btTransform identityTransform(btMatrix3x3::getIdentity());
return identityTransform;
}
-
-private:
- ///Storage for the rotation
- btMatrix3x3 m_basis;
- ///Storage for the translation
- btVector3 m_origin;
+
+ void serialize(struct btTransformData& dataOut) const;
+
+ void serializeFloat(struct btTransformFloatData& dataOut) const;
+
+ void deSerialize(const struct btTransformData& dataIn);
+
+ void deSerializeDouble(const struct btTransformDoubleData& dataIn);
+
+ void deSerializeFloat(const struct btTransformFloatData& dataIn);
+
};
@@ -234,6 +251,53 @@
}
+///for serialization
+struct btTransformFloatData
+{
+ btMatrix3x3FloatData m_basis;
+ btVector3FloatData m_origin;
+};
+
+struct btTransformDoubleData
+{
+ btMatrix3x3DoubleData m_basis;
+ btVector3DoubleData m_origin;
+};
+
+
+
+SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
+{
+ m_basis.serialize(dataOut.m_basis);
+ m_origin.serialize(dataOut.m_origin);
+}
+
+SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
+{
+ m_basis.serializeFloat(dataOut.m_basis);
+ m_origin.serializeFloat(dataOut.m_origin);
+}
+
+
+SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
+{
+ m_basis.deSerialize(dataIn.m_basis);
+ m_origin.deSerialize(dataIn.m_origin);
+}
+
+SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
+{
+ m_basis.deSerializeFloat(dataIn.m_basis);
+ m_origin.deSerializeFloat(dataIn.m_origin);
+}
+
+SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
+{
+ m_basis.deSerializeDouble(dataIn.m_basis);
+ m_origin.deSerializeDouble(dataIn.m_origin);
+}
+
+
#endif
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btTransformUtil.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btTransformUtil.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btTransformUtil.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -21,10 +21,7 @@
-#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
-#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
-
SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
{
return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
@@ -33,28 +30,10 @@
}
-SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
-{
- if (btFabs(n.z()) > SIMDSQRT12) {
- // choose p in y-z plane
- btScalar a = n[1]*n[1] + n[2]*n[2];
- btScalar k = btRecipSqrt (a);
- p.setValue(0,-n[2]*k,n[1]*k);
- // set q = n x p
- q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
- }
- else {
- // choose p in x-y plane
- btScalar a = n.x()*n.x() + n.y()*n.y();
- btScalar k = btRecipSqrt (a);
- p.setValue(-n.y()*k,n.x()*k,0);
- // set q = n x p
- q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
- }
-}
+
/// Utils related to temporal transforms
class btTransformUtil
{
@@ -117,10 +96,8 @@
static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
{
- btQuaternion orn1 = orn0.farthest(orn1a);
+ btQuaternion orn1 = orn0.nearest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse();
- ///floating point inaccuracy can lead to w component > 1..., which breaks
- dorn.normalize();
angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis[3] = btScalar(0.);
@@ -209,7 +186,7 @@
btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
btVector3 relLinVel = (linVelB-linVelA);
- btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
+ btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
if (relLinVelocLength<0.f)
{
relLinVelocLength = 0.f;
@@ -227,17 +204,21 @@
void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
{
- m_separatingNormal = separatingVector;
m_separatingDistance = separatingDistance;
-
- const btVector3& toPosA = transA.getOrigin();
- const btVector3& toPosB = transB.getOrigin();
- btQuaternion toOrnA = transA.getRotation();
- btQuaternion toOrnB = transB.getRotation();
- m_posA = toPosA;
- m_posB = toPosB;
- m_ornA = toOrnA;
- m_ornB = toOrnB;
+
+ if (m_separatingDistance>0.f)
+ {
+ m_separatingNormal = separatingVector;
+
+ const btVector3& toPosA = transA.getOrigin();
+ const btVector3& toPosB = transB.getOrigin();
+ btQuaternion toOrnA = transA.getRotation();
+ btQuaternion toOrnB = transB.getRotation();
+ m_posA = toPosA;
+ m_posB = toPosB;
+ m_ornA = toOrnA;
+ m_ornB = toOrnB;
+ }
}
};
Modified: code/branches/kicklib2/src/external/bullet/LinearMath/btVector3.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/LinearMath/btVector3.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/LinearMath/btVector3.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -19,30 +19,37 @@
#include "btScalar.h"
-#include "btScalar.h"
#include "btMinMax.h"
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btVector3Data btVector3DoubleData
+#define btVector3DataName "btVector3DoubleData"
+#else
+#define btVector3Data btVector3FloatData
+#define btVector3DataName "btVector3FloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+
+
/**@brief btVector3 can be used to represent 3D points and vectors.
* It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
* Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
*/
-
ATTRIBUTE_ALIGNED16(class) btVector3
{
public:
#if defined (__SPU__) && defined (__CELLOS_LV2__)
- union {
- vec_float4 mVec128;
btScalar m_floats[4];
- };
public:
- vec_float4 get128() const
+ SIMD_FORCE_INLINE const vec_float4& get128() const
{
- return mVec128;
+ return *((const vec_float4*)&m_floats[0]);
}
public:
#else //__CELLOS_LV2__ __SPU__
-#ifdef BT_USE_SSE // WIN32
+#ifdef BT_USE_SSE // _WIN32
union {
__m128 mVec128;
btScalar m_floats[4];
@@ -141,6 +148,19 @@
* This is symantically treating the vector like a point */
SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
+ SIMD_FORCE_INLINE btVector3& safeNormalize()
+ {
+ btVector3 absVec = this->absolute();
+ int maxIndex = absVec.maxAxis();
+ if (absVec[maxIndex]>0)
+ {
+ *this /= absVec[maxIndex];
+ return *this /= length();
+ }
+ setValue(1,0,0);
+ return *this;
+ }
+
/**@brief Normalize this vector
* x^2 + y^2 + z^2 = 1 */
SIMD_FORCE_INLINE btVector3& normalize()
@@ -151,10 +171,10 @@
/**@brief Return a normalized version of this vector */
SIMD_FORCE_INLINE btVector3 normalized() const;
- /**@brief Rotate this vector
+ /**@brief Return a rotated version of this vector
* @param wAxis The axis to rotate about
* @param angle The angle to rotate by */
- SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle );
+ SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const;
/**@brief Return the angle between this and another vector
* @param v The other vector */
@@ -306,7 +326,7 @@
m_floats[0]=x;
m_floats[1]=y;
m_floats[2]=z;
- m_floats[3] = 0.f;
+ m_floats[3] = btScalar(0.);
}
void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
@@ -316,6 +336,33 @@
v2->setValue(-y() ,x() ,0.);
}
+ void setZero()
+ {
+ setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+ }
+
+ SIMD_FORCE_INLINE bool isZero() const
+ {
+ return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
+ }
+
+ SIMD_FORCE_INLINE bool fuzzyZero() const
+ {
+ return length2() < SIMD_EPSILON;
+ }
+
+ SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const;
+
+ SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn);
+
+ SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const;
+
+ SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn);
+
+ SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const;
+
+ SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn);
+
};
/**@brief Return the sum of two vectors (Point symantics)*/
@@ -376,7 +423,7 @@
/**@brief Return the dot product between two vectors */
SIMD_FORCE_INLINE btScalar
-dot(const btVector3& v1, const btVector3& v2)
+btDot(const btVector3& v1, const btVector3& v2)
{
return v1.dot(v2);
}
@@ -384,7 +431,7 @@
/**@brief Return the distance squared between two vectors */
SIMD_FORCE_INLINE btScalar
-distance2(const btVector3& v1, const btVector3& v2)
+btDistance2(const btVector3& v1, const btVector3& v2)
{
return v1.distance2(v2);
}
@@ -392,27 +439,27 @@
/**@brief Return the distance between two vectors */
SIMD_FORCE_INLINE btScalar
-distance(const btVector3& v1, const btVector3& v2)
+btDistance(const btVector3& v1, const btVector3& v2)
{
return v1.distance(v2);
}
/**@brief Return the angle between two vectors */
SIMD_FORCE_INLINE btScalar
-angle(const btVector3& v1, const btVector3& v2)
+btAngle(const btVector3& v1, const btVector3& v2)
{
return v1.angle(v2);
}
/**@brief Return the cross product of two vectors */
SIMD_FORCE_INLINE btVector3
-cross(const btVector3& v1, const btVector3& v2)
+btCross(const btVector3& v1, const btVector3& v2)
{
return v1.cross(v2);
}
SIMD_FORCE_INLINE btScalar
-triple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
+btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{
return v1.triple(v2, v3);
}
@@ -444,7 +491,7 @@
return *this / length();
}
-SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle )
+SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle ) const
{
// wAxis must be a unit lenght vector
@@ -488,7 +535,7 @@
SIMD_FORCE_INLINE int maxAxis4() const
{
int maxIndex = -1;
- btScalar maxVal = btScalar(-1e30);
+ btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
if (m_floats[0] > maxVal)
{
maxIndex = 0;
@@ -521,7 +568,7 @@
SIMD_FORCE_INLINE int minAxis4() const
{
int minIndex = -1;
- btScalar minVal = btScalar(1e30);
+ btScalar minVal = btScalar(BT_LARGE_FLOAT);
if (m_floats[0] < minVal)
{
minIndex = 0;
@@ -585,8 +632,6 @@
}
-
-
};
@@ -635,4 +680,87 @@
vector = swappedVec;
}
+template <class T>
+SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q)
+{
+ if (btFabs(n[2]) > SIMDSQRT12) {
+ // choose p in y-z plane
+ btScalar a = n[1]*n[1] + n[2]*n[2];
+ btScalar k = btRecipSqrt (a);
+ p[0] = 0;
+ p[1] = -n[2]*k;
+ p[2] = n[1]*k;
+ // set q = n x p
+ q[0] = a*k;
+ q[1] = -n[0]*p[2];
+ q[2] = n[0]*p[1];
+ }
+ else {
+ // choose p in x-y plane
+ btScalar a = n[0]*n[0] + n[1]*n[1];
+ btScalar k = btRecipSqrt (a);
+ p[0] = -n[1]*k;
+ p[1] = n[0]*k;
+ p[2] = 0;
+ // set q = n x p
+ q[0] = -n[2]*p[1];
+ q[1] = n[2]*p[0];
+ q[2] = a*k;
+ }
+}
+
+
+struct btVector3FloatData
+{
+ float m_floats[4];
+};
+
+struct btVector3DoubleData
+{
+ double m_floats[4];
+
+};
+
+SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
+{
+ ///could also do a memcpy, check if it is worth it
+ for (int i=0;i<4;i++)
+ dataOut.m_floats[i] = float(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
+{
+ for (int i=0;i<4;i++)
+ m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
+{
+ ///could also do a memcpy, check if it is worth it
+ for (int i=0;i<4;i++)
+ dataOut.m_floats[i] = double(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
+{
+ for (int i=0;i<4;i++)
+ m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
+{
+ ///could also do a memcpy, check if it is worth it
+ for (int i=0;i<4;i++)
+ dataOut.m_floats[i] = m_floats[i];
+}
+
+SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn)
+{
+ for (int i=0;i<4;i++)
+ m_floats[i] = dataIn.m_floats[i];
+}
+
+
#endif //SIMD__VECTOR3_H
Modified: code/branches/kicklib2/src/external/bullet/NEWS
===================================================================
--- code/branches/kicklib2/src/external/bullet/NEWS 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/NEWS 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,4 +1,4 @@
-For news, visit the Bullet Physics Forum at
-http://www.continuousphysics.com/Bullet/phpBB2/viewforum.php?f=9
+For news, visit the Bullet Physics forums at
+http://www.bulletphysics.org
Modified: code/branches/kicklib2/src/external/bullet/README
===================================================================
--- code/branches/kicklib2/src/external/bullet/README 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/README 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,7 +1,6 @@
Bullet is a 3D Collision Detection and Rigid Body Dynamics Library for games and animation.
Free for commercial use, including Playstation 3, open source under the ZLib License.
-Discrete and continuous collision detection, integrated into Blender 3D, and COLLADA 1.4 Physics import.
See the Bullet_User_Manual.pdf for more info and visit the Bullet Physics Forum at
-http://bulletphysics.com
+http://bulletphysics.org
Modified: code/branches/kicklib2/src/external/bullet/VERSION
===================================================================
--- code/branches/kicklib2/src/external/bullet/VERSION 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/VERSION 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1 +1 @@
-2.73
\ No newline at end of file
+2.77
Modified: code/branches/kicklib2/src/external/bullet/btBulletCollisionCommon.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/btBulletCollisionCommon.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/btBulletCollisionCommon.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -61,6 +61,8 @@
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btSerializer.h"
+
#endif //BULLET_COLLISION_COMMON_H
Modified: code/branches/kicklib2/src/external/bullet/btBulletDynamicsCommon.h
===================================================================
--- code/branches/kicklib2/src/external/bullet/btBulletDynamicsCommon.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/btBulletDynamicsCommon.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -30,6 +30,9 @@
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btUniversalConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btHinge2Constraint.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
Modified: code/branches/kicklib2/src/external/bullet/changes_orxonox.diff
===================================================================
--- code/branches/kicklib2/src/external/bullet/changes_orxonox.diff 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/bullet/changes_orxonox.diff 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,8 +1,6 @@
-Index: btScalar.h
-===================================================================
---- btScalar.h (revision 2882)
-+++ btScalar.h (working copy)
-@@ -236,7 +236,11 @@
+--- LinearMath/btScalar.h Tue Aug 10 13:19:44 2010
++++ LinearMath/btScalar.h Sun Feb 27 01:27:34 2011
+@@ -286,7 +286,11 @@
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
@@ -12,6 +10,6 @@
+ #else
+ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
+ #endif
-
+ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
+
#endif
-
Modified: code/branches/kicklib2/src/external/ogreceguirenderer/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/external/ogreceguirenderer/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ogreceguirenderer/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -33,9 +33,10 @@
ORXONOX_EXTERNAL
DEFINE_SYMBOL
"OGRE_GUIRENDERER_EXPORTS"
- VERSION
- 1.4.9
LINK_LIBRARIES
+ ${Boost_SYSTEM_LIBRARY}
+ ${Boost_THREAD_LIBRARY}
+ ${Boost_DATE_TIME_LIBRARY}
${OGRE_LIBRARY}
${CEGUI_LIBRARY}
SOURCE_FILES
Modified: code/branches/kicklib2/src/external/ois/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/external/ois/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -30,10 +30,11 @@
OISJoyStick.h
OISKeyboard.h
OISMouse.h
+ OISMultiTouch.h
OISObject.h
OISPrereqs.h
-COMPILATION_BEGIN OISCompilation.cpp
+#COMPILATION_BEGIN OISCompilation.cpp
OISEffect.cpp
OISException.cpp
OISForceFeedback.cpp
@@ -41,7 +42,7 @@
OISJoyStick.cpp
OISKeyboard.cpp
OISObject.cpp
-COMPILATION_END
+#COMPILATION_END
)
IF(WIN32)
ADD_SUBDIRECTORY(win32)
@@ -51,18 +52,26 @@
ADD_SUBDIRECTORY(linux)
ENDIF()
-INCLUDE_DIRECTORIES(.)
+# Some unexplained hackery for Visual Studio 2005
+ADD_COMPILER_FLAGS("-D_WIN32_DCOM" MSVC8)
+# MinGW doesn't come with some required Windows headers
+IF(MINGW)
+ INCLUDE_DIRECTORIES(${WMI_INCLUDE_DIR})
+ENDIF()
+
ORXONOX_ADD_LIBRARY(ois_orxonox
ORXONOX_EXTERNAL
DEFINE_SYMBOL
"OIS_NONCLIENT_BUILD"
VERSION
- 1.2
+ 1.3
SOURCE_FILES
${OIS_FILES}
)
IF(WIN32)
- TARGET_LINK_LIBRARIES(ois_orxonox ${DIRECTX_LIBRARIES})
+ TARGET_LINK_LIBRARIES(ois_orxonox ${DIRECTX_LIBRARIES} ${WMI_LIBRARY})
+ELSEIF(APPLE)
+ TARGET_LINK_LIBRARIES(ois_orxonox "/System/Library/Frameworks/IOKit.framework" "/System/Library/Frameworks/Carbon.framework")
ENDIF()
Modified: code/branches/kicklib2/src/external/ois/OIS.h
===================================================================
--- code/branches/kicklib2/src/external/ois/OIS.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/OIS.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -28,6 +28,7 @@
#include "OISMouse.h"
#include "OISKeyboard.h"
#include "OISJoyStick.h"
+#include "OISMultiTouch.h"
#include "OISInputManager.h"
#include "OISFactoryCreator.h"
#include "OISException.h"
Modified: code/branches/kicklib2/src/external/ois/OISConfig.h
===================================================================
--- code/branches/kicklib2/src/external/ois/OISConfig.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/OISConfig.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -69,8 +69,6 @@
/**
@remarks
Build in support for Win32 XInput (Xbox 360 Controller)
- at notes
- Not Yet Implemented
*/
//#define OIS_WIN32_XINPUT_SUPPORT
Modified: code/branches/kicklib2/src/external/ois/OISInputManager.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/OISInputManager.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/OISInputManager.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -36,6 +36,8 @@
# include "linux/LinuxInputManager.h"
#elif defined OIS_APPLE_PLATFORM
# include "mac/MacInputManager.h"
+#elif defined OIS_IPHONE_PLATFORM
+# include "iphone/iPhoneInputManager.h"
#elif defined OIS_XBOX_PLATFORM
# include "xbox/XBoxInputManager.h"
#endif
@@ -58,6 +60,8 @@
m_lircSupport(0),
m_wiiMoteSupport(0)
{
+ mFactories.clear();
+ mFactoryObjects.clear();
}
//----------------------------------------------------------------------------//
@@ -110,6 +114,8 @@
im = new LinuxInputManager();
#elif defined OIS_APPLE_PLATFORM
im = new MacInputManager();
+#elif defined OIS_IPHONE_PLATFORM
+ im = new iPhoneInputManager();
#else
OIS_EXCEPT(E_General, "No platform library.. check build platform defines!");
#endif
Modified: code/branches/kicklib2/src/external/ois/OISKeyboard.h
===================================================================
--- code/branches/kicklib2/src/external/ois/OISKeyboard.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/OISKeyboard.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -183,7 +183,7 @@
class _OISExport KeyEvent : public EventArg
{
public:
- KeyEvent( Object* obj, KeyCode kc, unsigned int txt ) : EventArg(obj), key(kc), text(txt) {}
+ KeyEvent(Object* obj, KeyCode kc, unsigned int txt) : EventArg(obj), key(kc), text(txt) {}
virtual ~KeyEvent() {}
//! KeyCode of event
@@ -200,8 +200,8 @@
{
public:
virtual ~KeyListener() {}
- virtual bool keyPressed( const KeyEvent &arg ) = 0;
- virtual bool keyReleased( const KeyEvent &arg ) = 0;
+ virtual bool keyPressed(const KeyEvent &arg) = 0;
+ virtual bool keyReleased(const KeyEvent &arg) = 0;
};
/**
@@ -219,7 +219,7 @@
@param key
A KeyCode to check
*/
- virtual bool isKeyDown( KeyCode key ) const = 0;
+ virtual bool isKeyDown(KeyCode key) const = 0;
/**
@remarks
@@ -228,7 +228,7 @@
@param keyListener
Send a pointer to a class derived from KeyListener or 0 to clear the callback
*/
- virtual void setEventCallback( KeyListener *keyListener ) { mListener = keyListener;}
+ virtual void setEventCallback(KeyListener *keyListener) { mListener = keyListener;}
/**
@remarks
@@ -253,7 +253,7 @@
@param mode
Off, Unicode, Ascii
*/
- virtual void setTextTranslation( TextTranslationMode mode );
+ virtual void setTextTranslation(TextTranslationMode mode);
/**
@remarks
@@ -271,7 +271,7 @@
@returns
The string as determined from the current locale
*/
- virtual const std::string& getAsString( KeyCode kc ) = 0;
+ virtual const std::string& getAsString(KeyCode kc) = 0;
//! Enum of bit position of modifer
enum Modifier
@@ -285,14 +285,14 @@
@remarks
Check modifier status
*/
- bool isModifierDown( Modifier mod ) const;
+ bool isModifierDown(Modifier mod) const;
/**
@remarks
Copies the state of the keys into the sent buffer
(in the form of 1 is down and 0 is up)
*/
- virtual void copyKeyStates( char keys[256] ) const = 0;
+ virtual void copyKeyStates(char keys[256]) const = 0;
protected:
Keyboard(const std::string &vendor, bool buffered, int devID, InputManager* creator)
Copied: code/branches/kicklib2/src/external/ois/OISMultiTouch.h (from rev 8096, code/branches/kicklib/src/external/ois/OISMultiTouch.h)
===================================================================
--- code/branches/kicklib2/src/external/ois/OISMultiTouch.h (rev 0)
+++ code/branches/kicklib2/src/external/ois/OISMultiTouch.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,169 @@
+/*
+The zlib/libpng License
+
+Copyright (c) 2005-2007 Phillip Castaneda (pjcast -- www.wreckedgames.com)
+
+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.
+*/
+#ifndef OIS_MultiTouch_H
+#define OIS_MultiTouch_H
+#include "OISObject.h"
+#include "OISEvents.h"
+
+#include <set>
+#include <vector>
+
+#define OIS_MAX_NUM_TOUCHES 4 // 4 finger touches are probably the highest we'll ever get
+
+namespace OIS
+{
+ /**
+ Represents the state of the multi-touch device
+ All members are valid for both buffered and non buffered mode
+ */
+
+ //! Touch Event type
+ enum MultiTypeEventTypeID
+ {
+ MT_None = 0, MT_Pressed, MT_Released, MT_Moved, MT_Cancelled
+ };
+
+ class _OISExport MultiTouchState
+ {
+ public:
+ MultiTouchState() : width(50), height(50), touchType(MT_None) {};
+
+ /** Represents the height/width of your display area.. used if touch clipping
+ or touch grabbed in case of X11 - defaults to 50.. Make sure to set this
+ and change when your size changes.. */
+ mutable int width, height;
+
+ //! X Axis component
+ Axis X;
+
+ //! Y Axis Component
+ Axis Y;
+
+ //! Z Axis Component
+ Axis Z;
+
+ int touchType;
+
+ inline bool touchIsType( MultiTypeEventTypeID touch ) const
+ {
+ return ((touchType & ( 1L << touch )) == 0) ? false : true;
+ }
+
+ //! Clear all the values
+ void clear()
+ {
+ X.clear();
+ Y.clear();
+ Z.clear();
+ touchType = MT_None;
+ }
+ };
+
+ /** Specialised for multi-touch events */
+ class _OISExport MultiTouchEvent : public EventArg
+ {
+ public:
+ MultiTouchEvent( Object *obj, const MultiTouchState &ms ) : EventArg(obj), state(ms) {}
+ virtual ~MultiTouchEvent() {}
+
+ //! The state of the touch - including axes
+ const MultiTouchState &state;
+ };
+
+ /**
+ To receive buffered touch input, derive a class from this, and implement the
+ methods here. Then set the call back to your MultiTouch instance with MultiTouch::setEventCallback
+ */
+ class _OISExport MultiTouchListener
+ {
+ public:
+ virtual ~MultiTouchListener() {}
+ virtual bool touchMoved( const MultiTouchEvent &arg ) = 0;
+ virtual bool touchPressed( const MultiTouchEvent &arg ) = 0;
+ virtual bool touchReleased( const MultiTouchEvent &arg ) = 0;
+ virtual bool touchCancelled( const MultiTouchEvent &arg ) = 0;
+ };
+
+ /**
+ MultiTouch base class. To be implemented by specific system (ie. iPhone UITouch)
+ This class is useful as you remain OS independent using this common interface.
+ */
+ class _OISExport MultiTouch : public Object
+ {
+ public:
+ virtual ~MultiTouch() {}
+
+ /**
+ @remarks
+ Register/unregister a MultiTouch Listener - Only one allowed for simplicity. If broadcasting
+ is necessary, just broadcast from the callback you registered.
+ @param touchListener
+ Send a pointer to a class derived from MultiTouchListener or 0 to clear the callback
+ */
+ virtual void setEventCallback( MultiTouchListener *touchListener ) {mListener = touchListener;}
+
+ /** @remarks Returns currently set callback.. or 0 */
+ MultiTouchListener* getEventCallback() {return mListener;}
+
+ /** @remarks Clear out the set of input states. Should be called after input has been processed by the application */
+ void clearStates(void) { mStates.clear(); }
+
+ /** @remarks Returns the state of the touch - is valid for both buffered and non buffered mode */
+ std::vector<MultiTouchState> getMultiTouchStates() const { return mStates; }
+
+ /** @remarks Returns the first n touch states. Useful if you know your app only needs to
+ process n touches. The return value is a vector to allow random access */
+ const std::vector<MultiTouchState> getFirstNTouchStates(int n) {
+ std::vector<MultiTouchState> states;
+ for( unsigned int i = 0; i < mStates.size(); i++ ) {
+ if(!(mStates[i].touchIsType(MT_None))) {
+ states.push_back(mStates[i]);
+ }
+ }
+ return states;
+ }
+
+ /** @remarks Returns the first n touch states. Useful if you know your app only needs to
+ process n touches. The return value is a vector to allow random access */
+ const std::vector<MultiTouchState> getMultiTouchStatesOfType(MultiTypeEventTypeID type) {
+ std::vector<MultiTouchState> states;
+ for( unsigned int i = 0; i < mStates.size(); i++ ) {
+ if(mStates[i].touchIsType(type)) {
+ states.push_back(mStates[i]);
+ }
+ }
+ return states;
+ }
+
+ protected:
+ MultiTouch(const std::string &vendor, bool buffered, int devID, InputManager* creator)
+ : Object(vendor, OISMultiTouch, buffered, devID, creator), mListener(0) {}
+
+ //! The state of the touch device, implemented in a vector to store the state from each finger touch
+ std::vector<MultiTouchState> mStates;
+
+ //! Used for buffered/actionmapping callback
+ MultiTouchListener *mListener;
+ };
+}
+#endif
Modified: code/branches/kicklib2/src/external/ois/OISPrereqs.h
===================================================================
--- code/branches/kicklib2/src/external/ois/OISPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/OISPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -78,9 +78,15 @@
# endif
# endif
#elif defined( __APPLE_CC__ ) // Apple OS X
-# define OIS_APPLE_PLATFORM
-# undef _OISExport
-# define _OISExport __attribute__((visibility("default")))
+ // Device Simulator
+# if __IPHONE_OS_VERSION_MIN_REQUIRED >= 20201 || __IPHONE_OS_VERSION_MIN_REQUIRED >= 20000
+//# if __IPHONE_OS_VERSION_MIN_REQUIRED >= 30000 || __IPHONE_OS_VERSION_MIN_REQUIRED >= 30000
+# define OIS_IPHONE_PLATFORM
+# else
+# define OIS_APPLE_PLATFORM
+# endif
+# undef _OISExport
+# define _OISExport __attribute__((visibility("default")))
#else //Probably Linux
# define OIS_LINUX_PLATFORM
#endif
@@ -94,9 +100,9 @@
//-------------- Common Classes, Enums, and Typdef's -------------------------//
#define OIS_VERSION_MAJOR 1
-#define OIS_VERSION_MINOR 2
+#define OIS_VERSION_MINOR 3
#define OIS_VERSION_PATCH 0
-#define OIS_VERSION_NAME "Smash"
+#define OIS_VERSION_NAME "1.3.0"
#define OIS_VERSION ((OIS_VERSION_MAJOR << 16) | (OIS_VERSION_MINOR << 8) | OIS_VERSION_PATCH)
@@ -109,8 +115,10 @@
class Keyboard;
class Mouse;
class JoyStick;
+ class MultiTouch;
class KeyListener;
class MouseListener;
+ class MultiTouchListener;
class JoyStickListener;
class Interface;
class ForceFeedback;
@@ -129,11 +137,12 @@
//! Each Input class has a General Type variable, a form of RTTI
enum Type
{
- OISUnknown = 0,
- OISKeyboard = 1,
- OISMouse = 2,
- OISJoyStick = 3,
- OISTablet = 4
+ OISUnknown = 0,
+ OISKeyboard = 1,
+ OISMouse = 2,
+ OISJoyStick = 3,
+ OISTablet = 4,
+ OISMultiTouch = 5
};
//! Map of device objects connected and their respective vendors
Modified: code/branches/kicklib2/src/external/ois/ReadMe.txt
===================================================================
--- code/branches/kicklib2/src/external/ois/ReadMe.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/ReadMe.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -4,7 +4,7 @@
The zlib/libpng License
-Copyright (c) 2005-2007 Phillip Castaneda (pjcast -- www.wreckedgames.com)
+Copyright (c) 2005-2010 Phillip Castaneda (pjcast -- www.wreckedgames.com)
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
@@ -45,21 +45,16 @@
Win32/
Contains Visual Studio .Net Solution Files
- Contains CodeBlocks + MinGW + StlPort project files for OIS
+ Contains CodeBlocks project files for OIS
---- Dependencies ------------------------------------------------------
DirectInput 8
- Ogre & CEGUI 0.4.0 If building CEGUIOgre OIS Demo
- SDL/
- A test bed for an OIS InputManager with SDL as the backend. Not recommended;
- however, useful for platforms with non-native OIS ports for temporary use.
Linux/
---- Dependencies ------------------------------------------------------
X11
- Ogre (GLX Platform) & CEGUI 0.4.0 If building CEGUIOgre OIS Demo
- Newer Linux Kernel (2.6+ ?) for Event API - else, use --disable-joyevents
+ Newer Linux Kernel (2.6+ ?) for Event API
Steps to build on Linux:
./bootstrap
@@ -68,10 +63,8 @@
---- Configure build options --------------------------------------------
./configure --help --- List all configure options
- ./configure --disable-ogre --- Disables CEGUIOgre ActionMapping Demo
- ./configure --disable-joyevents --- Uses /dev/input/jsX instead of
- /dev/input/eventX
+
LinuxCB/
Contains CodeBlock files for building OIS and Demos with codeblocks
This project file looks for Ogre and other dependencies in /usr/local/lib
@@ -79,9 +72,5 @@
settings. It also installs libOIS to ~/libs
Mac/
-
- XCode-1.5/
- Non-complete native OIS port.
-
XCode-2.2/
- Working, complete, OIS port to OSX using SDL as a backend.
\ No newline at end of file
+ Working, mostly complete OSX vackend.
\ No newline at end of file
Modified: code/branches/kicklib2/src/external/ois/VERSION
===================================================================
--- code/branches/kicklib2/src/external/ois/VERSION 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/VERSION 2011-04-21 16:58:23 UTC (rev 8284)
@@ -1,3 +1,2 @@
-OIS v1_2 CVS updated on 2009/01/24
-Note that this is not CVS HEAD, but v1_2 branch!
-
+OIS SVN v1.3 branch updated on 2011/02/20 (revision 32)
+https://wgois.svn.sourceforge.net/svnroot/wgois/ois/branches/v1-3/
Modified: code/branches/kicklib2/src/external/ois/changes_orxonox.diff
===================================================================
--- code/branches/kicklib2/src/external/ois/changes_orxonox.diff 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/changes_orxonox.diff 2011-04-21 16:58:23 UTC (rev 8284)
@@ -9,6 +9,8 @@
# undef _OISExport
//Ignorable Dll interface warning...
# if !defined(OIS_MINGW_COMPILER)
+
+
--- linux/EventHelpers.cpp (revision 5668)
+++ linux/EventHelpers.cpp (working copy)
@@ -35,6 +35,20 @@
@@ -36,7 +38,7 @@
--- win32/Win32ForceFeedback.cpp
+++ win32/Win32ForceFeedback.cpp
@@ -25,7 +25,7 @@
- #include <Math.h>
+ #include <math.h>
// 0 = No trace; 1 = Important traces; 2 = Debug traces
-#define OIS_WIN32_JOYFF_DEBUG 1
@@ -44,3 +46,66 @@
#if (defined (_DEBUG) || defined(OIS_WIN32_JOYFF_DEBUG))
#include <iostream>
+
+
+--- win32/Win32JoyStick.cpp
++++ win32/Win32JoyStick.cpp
+@@ -26,6 +26,14 @@
+ #include "OISEvents.h"
+ #include "OISException.h"
+
++// (Orxonox): Required for MinGW to compile properly
++#ifdef __MINGW32__
++# include <oaidl.h>
++# ifndef __MINGW_EXTENSION
++# define __MINGW_EXTENSION __extension__
++# endif
++#endif
++
+ #include <cassert>
+ #include <wbemidl.h>
+ #include <oleauto.h>
+@@ -39,6 +47,11 @@
+ }
+ #endif
+
++// (Orxonox): MinGW doesn't have swscanf_s
++#ifdef __MINGW32__
++# define swscanf_s swscanf
++#endif
++
+ #ifdef OIS_WIN32_XINPUT_SUPPORT
+ # pragma comment(lib, "xinput.lib")
+ #endif
+@@ -583,7 +596,12 @@
+ bool bCleanupCOM = SUCCEEDED(hr);
+
+ // Create WMI
++ // (Orxonox): Fix for MinGW
++#ifdef __MINGW32__
++ hr = CoCreateInstance(CLSID_WbemLocator, NULL, CLSCTX_INPROC_SERVER, IID_IWbemLocator, (LPVOID*)&pIWbemLocator);
++#else
+ hr = CoCreateInstance(__uuidof(WbemLocator), NULL, CLSCTX_INPROC_SERVER, __uuidof(IWbemLocator), (LPVOID*)&pIWbemLocator);
++#endif
+ if( FAILED(hr) || pIWbemLocator == NULL )
+ goto LCleanup;
+
+
+--- mac/MacHIDManager.cpp
++++ mac/MacHIDManager.cpp
+@@ -406,6 +406,7 @@
+ switch(iType)
+ {
+ case OISJoyStick:
++ {
+ int totalDevs = totalDevices(iType);
+ int freeDevs = freeDevices(iType);
+ int devID = totalDevs - freeDevs;
+@@ -413,6 +414,7 @@
+ obj = new MacJoyStick((*it)->combinedKey, bufferMode, *it, creator, devID);
+ (*it)->inUse = true;
+ return obj;
++ }
+ case OISTablet:
+ //Create MacTablet
+ break;
Modified: code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -39,7 +39,6 @@
grabKeyboard = true;
hideMouse = true;
mGrabs = true;
- useXRepeat = false;
keyboardUsed = mouseUsed = false;
//Setup our internal factories
@@ -73,11 +72,6 @@
window = strtoul(i->second.c_str(), 0, 10);
//--------- Keyboard Settings ------------//
- i = paramList.find("XAutoRepeatOn");
- if( i != paramList.end() )
- if( i->second == "true" )
- useXRepeat = true;
-
i = paramList.find("x11_keyboard_grab");
if( i != paramList.end() )
if( i->second == "false" )
@@ -171,7 +165,7 @@
case OISKeyboard:
{
if( keyboardUsed == false )
- obj = new LinuxKeyboard(this, bufferMode, grabKeyboard, useXRepeat);
+ obj = new LinuxKeyboard(this, bufferMode, grabKeyboard);
break;
}
case OISMouse:
Modified: code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.h
===================================================================
--- code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/linux/LinuxInputManager.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -100,9 +100,6 @@
bool grabMouse, grabKeyboard;
bool mGrabs;
bool hideMouse;
-
- //! By default, keyboard disables XRepeatRate
- bool useXRepeat;
};
}
#endif
Modified: code/branches/kicklib2/src/external/ois/linux/LinuxJoyStickEvents.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/linux/LinuxJoyStickEvents.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/linux/LinuxJoyStickEvents.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -95,107 +95,110 @@
//We are in non blocking mode - we just read once, and try to fill up buffer
input_event js[JOY_BUFFERSIZE];
- int ret = read(mJoyStick, &js, sizeof(struct input_event) * JOY_BUFFERSIZE);
- if( ret <= 0 )
- return;
-
- //Determine how many whole events re read up
- ret /= sizeof(struct input_event);
- for(int i = 0; i < ret; ++i)
+ while(true)
{
- switch(js[i].type)
- {
- case EV_KEY: //Button
- {
- int button = mButtonMap[js[i].code];
-
- #ifdef OIS_LINUX_JOY_DEBUG
- cout << "\nButton Code: " << js[i].code << ", OIS Value: " << button << endl;
- #endif
-
- //Check to see whether push or released event...
- if(js[i].value)
- {
- mState.mButtons[button] = true;
- if( mBuffered && mListener )
- if(!mListener->buttonPressed(JoyStickEvent(this,mState), button)) return;
- }
- else
- {
- mState.mButtons[button] = false;
- if( mBuffered && mListener )
- if(!mListener->buttonReleased(JoyStickEvent(this,mState), button)) return;
- }
+ int ret = read(mJoyStick, &js, sizeof(struct input_event) * JOY_BUFFERSIZE);
+ if( ret < 0 )
break;
- }
- case EV_ABS: //Absolute Axis
+ //Determine how many whole events re read up
+ ret /= sizeof(struct input_event);
+ for(int i = 0; i < ret; ++i)
{
- //A Stick (BrakeDefine is the highest possible Axis)
- if( js[i].code <= ABS_BRAKE )
+ switch(js[i].type)
{
- int axis = mAxisMap[js[i].code];
- assert( axis < 32 && "Too many axes (Max supported is 32). Report this to OIS forums!" );
+ case EV_KEY: //Button
+ {
+ int button = mButtonMap[js[i].code];
- axisMoved[axis] = true;
+ #ifdef OIS_LINUX_JOY_DEBUG
+ cout << "\nButton Code: " << js[i].code << ", OIS Value: " << button << endl;
+ #endif
- //check for rescaling:
- if( mRanges[axis].min == JoyStick::MIN_AXIS && mRanges[axis].max != JoyStick::MAX_AXIS )
- { //Scale is perfect
- mState.mAxes[axis].abs = js[i].value;
+ //Check to see whether push or released event...
+ if(js[i].value)
+ {
+ mState.mButtons[button] = true;
+ if( mBuffered && mListener )
+ if(!mListener->buttonPressed(JoyStickEvent(this,mState), button)) return;
}
else
- { //Rescale
- float proportion = (float)(js[i].value-mRanges[axis].max)/(float)(mRanges[axis].min-mRanges[axis].max);
- mState.mAxes[axis].abs = (int)(32767.0f - (65535.0f * proportion));
+ {
+ mState.mButtons[button] = false;
+ if( mBuffered && mListener )
+ if(!mListener->buttonReleased(JoyStickEvent(this,mState), button)) return;
}
+ break;
}
- else if( js[i].code <= ABS_HAT3Y ) //A POV - Max four POVs allowed
+
+ case EV_ABS: //Absolute Axis
{
- //Normalise the POV to between 0-7
- //Even is X Axis, Odd is Y Axis
- unsigned char LinuxPovNumber = js[i].code - 16;
- short OIS_POVIndex = POV_MASK[LinuxPovNumber];
+ //A Stick (BrakeDefine is the highest possible Axis)
+ if( js[i].code <= ABS_BRAKE )
+ {
+ int axis = mAxisMap[js[i].code];
+ assert( axis < 32 && "Too many axes (Max supported is 32). Report this to OIS forums!" );
- //Handle X Axis first (Even) (left right)
- if((LinuxPovNumber & 0x0001) == 0)
- {
- //Why do this? Because, we use a bit field, and when this axis is east,
- //it can't possibly be west too. So clear out the two X axes, then refil
- //it in with the new direction bit.
- //Clear the East/West Bit Flags first
- mState.mPOV[OIS_POVIndex].direction &= 0x11110011;
- if( js[i].value == -1 ) //Left
- mState.mPOV[OIS_POVIndex].direction |= Pov::West;
- else if( js[i].value == 1 ) //Right
- mState.mPOV[OIS_POVIndex].direction |= Pov::East;
+ axisMoved[axis] = true;
+
+ //check for rescaling:
+ if( mRanges[axis].min == JoyStick::MIN_AXIS && mRanges[axis].max != JoyStick::MAX_AXIS )
+ { //Scale is perfect
+ mState.mAxes[axis].abs = js[i].value;
+ }
+ else
+ { //Rescale
+ float proportion = (float)(js[i].value-mRanges[axis].max)/(float)(mRanges[axis].min-mRanges[axis].max);
+ mState.mAxes[axis].abs = (int)(32767.0f - (65535.0f * proportion));
+ }
}
- //Handle Y Axis (Odd) (up down)
- else
+ else if( js[i].code <= ABS_HAT3Y ) //A POV - Max four POVs allowed
{
- //Clear the North/South Bit Flags first
- mState.mPOV[OIS_POVIndex].direction &= 0x11111100;
- if( js[i].value == -1 ) //Up
- mState.mPOV[OIS_POVIndex].direction |= Pov::North;
- else if( js[i].value == 1 ) //Down
- mState.mPOV[OIS_POVIndex].direction |= Pov::South;
+ //Normalise the POV to between 0-7
+ //Even is X Axis, Odd is Y Axis
+ unsigned char LinuxPovNumber = js[i].code - 16;
+ short OIS_POVIndex = POV_MASK[LinuxPovNumber];
+
+ //Handle X Axis first (Even) (left right)
+ if((LinuxPovNumber & 0x0001) == 0)
+ {
+ //Why do this? Because, we use a bit field, and when this axis is east,
+ //it can't possibly be west too. So clear out the two X axes, then refil
+ //it in with the new direction bit.
+ //Clear the East/West Bit Flags first
+ mState.mPOV[OIS_POVIndex].direction &= 0x11110011;
+ if( js[i].value == -1 ) //Left
+ mState.mPOV[OIS_POVIndex].direction |= Pov::West;
+ else if( js[i].value == 1 ) //Right
+ mState.mPOV[OIS_POVIndex].direction |= Pov::East;
+ }
+ //Handle Y Axis (Odd) (up down)
+ else
+ {
+ //Clear the North/South Bit Flags first
+ mState.mPOV[OIS_POVIndex].direction &= 0x11111100;
+ if( js[i].value == -1 ) //Up
+ mState.mPOV[OIS_POVIndex].direction |= Pov::North;
+ else if( js[i].value == 1 ) //Down
+ mState.mPOV[OIS_POVIndex].direction |= Pov::South;
+ }
+
+ if( mBuffered && mListener )
+ if( mListener->povMoved( JoyStickEvent(this,mState), OIS_POVIndex) == false )
+ return;
}
+ break;
+ }
- if( mBuffered && mListener )
- if( mListener->povMoved( JoyStickEvent(this,mState), OIS_POVIndex) == false )
- return;
+
+ case EV_REL: //Relative Axes (Do any joystick actually have a relative axis?)
+ #ifdef OIS_LINUX_JOY_DEBUG
+ cout << "\nWarning: Relatives axes not supported yet" << endl;
+ #endif
+ break;
+ default: break;
}
- break;
}
-
-
- case EV_REL: //Relative Axes (Do any joystick actually have a relative axis?)
-#ifdef OIS_LINUX_JOY_DEBUG
- cout << "\nWarning: Relatives axes not supported yet" << endl;
-#endif
- break;
- default: break;
- }
}
//All axes and POVs are combined into one movement per pair per captured frame
Modified: code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -32,7 +32,7 @@
using namespace OIS;
#include <iostream>
//-------------------------------------------------------------------//
-LinuxKeyboard::LinuxKeyboard(InputManager* creator, bool buffered, bool grab, bool useXRepeat)
+LinuxKeyboard::LinuxKeyboard(InputManager* creator, bool buffered, bool grab)
: Keyboard(creator->inputSystemName(), buffered, 0, creator)
{
setlocale(LC_CTYPE, ""); //Set the locale to (hopefully) the users LANG UTF-8 Env var
@@ -43,9 +43,6 @@
grabKeyboard = grab;
keyFocusLost = false;
- xAutoRepeat = useXRepeat;
- oldXAutoRepeat = false;
-
//X Key Map to KeyCode
keyConversion.insert(XtoOIS_KeyMap::value_type(XK_1, KC_1));
keyConversion.insert(XtoOIS_KeyMap::value_type(XK_2, KC_2));
@@ -212,20 +209,6 @@
XGrabKeyboard(display,window,True,GrabModeAsync,GrabModeAsync,CurrentTime);
keyFocusLost = false;
-
- if( xAutoRepeat == false )
- {
- //We do not want to blindly turn on autorepeat later when quiting if
- //it was not on to begin with.. So, let us check and see first
- XKeyboardState old;
- XGetKeyboardControl( display, &old );
- oldXAutoRepeat = false;
-
- if( old.global_auto_repeat == AutoRepeatModeOn )
- oldXAutoRepeat = true;
-
- XAutoRepeatOff( display );
- }
}
//-------------------------------------------------------------------//
@@ -233,9 +216,6 @@
{
if( display )
{
- if( oldXAutoRepeat )
- XAutoRepeatOn(display);
-
if( grabKeyboard )
XUngrabKeyboard(display, CurrentTime);
@@ -302,11 +282,14 @@
LinuxInputManager* linMan = static_cast<LinuxInputManager*>(mCreator);
while( XPending(display) > 0 )
- { XNextEvent(display, &event); if( KeyPress == event.type )
+ {
+ XNextEvent(display, &event);
+
+ if(KeyPress == event.type)
{
unsigned int character = 0;
- if( mTextMode != Off )
+ if(mTextMode != Off)
{
unsigned char buffer[6] = {0,0,0,0,0,0};
XLookupString(&event.xkey, (char*)buffer, 6, &key, 0);
@@ -331,15 +314,19 @@
//Check for Alt-Tab
if( event.xkey.state & Mod1Mask && key == XK_Tab )
linMan->_setGrabState(false);
- } else if( KeyRelease == event.type )
+ }
+ else if(KeyRelease == event.type)
{
- //Mask out the modifier states X sets.. or we will get improper values
- event.xkey.state &= ~ShiftMask;
- event.xkey.state &= ~LockMask;
+ if(!_isKeyRepeat(event))
+ {
+ //Mask out the modifier states X sets.. or we will get improper values
+ event.xkey.state &= ~ShiftMask;
+ event.xkey.state &= ~LockMask;
- //Else, it is a valid key release
- XLookupString(&event.xkey,NULL,0,&key,NULL);
- _injectKeyUp(key); }
+ XLookupString(&event.xkey,NULL,0,&key,NULL);
+ _injectKeyUp(key);
+ }
+ }
}
//If grabbing mode is on.. Handle focus lost/gained via Alt-Tab and mouse clicks
Modified: code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.h
===================================================================
--- code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/linux/LinuxKeyboard.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -33,7 +33,7 @@
class LinuxKeyboard : public Keyboard
{
public:
- LinuxKeyboard(InputManager* creator, bool buffered, bool grab, bool useXRepeat );
+ LinuxKeyboard(InputManager* creator, bool buffered, bool grab);
virtual ~LinuxKeyboard();
/** @copydoc Keyboard::isKeyDown */
@@ -58,6 +58,23 @@
virtual void _initialize();
protected:
+ inline bool _isKeyRepeat(XEvent &event)
+ {
+ //When a key is repeated, there will be two events: released, followed by another immediate pressed. So check to see if another pressed is present
+ if(!XPending(display))
+ return false;
+
+ XEvent e;
+ XPeekEvent(display, &e);
+ if(e.type == KeyPress && e.xkey.keycode == event.xkey.keycode && (e.xkey.time - event.xkey.time) < 2)
+ {
+ XNextEvent(display, &e);
+ return true;
+ }
+
+ return false;
+ }
+
bool _injectKeyDown( KeySym key, int text );
bool _injectKeyUp( KeySym key );
@@ -74,9 +91,6 @@
bool grabKeyboard;
bool keyFocusLost;
- bool xAutoRepeat;
- bool oldXAutoRepeat;
-
std::string mGetString;
};
}
Modified: code/branches/kicklib2/src/external/ois/linux/LinuxMouse.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/linux/LinuxMouse.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/linux/LinuxMouse.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -172,15 +172,17 @@
}
//Compute this frames Relative X & Y motion
- mState.X.rel = event.xmotion.x - oldXMouseX;
- mState.Y.rel = event.xmotion.y - oldXMouseY;
+ int dx = event.xmotion.x - oldXMouseX;
+ int dy = event.xmotion.y - oldXMouseY;
//Store old values for next time to compute relative motion
oldXMouseX = event.xmotion.x;
oldXMouseY = event.xmotion.y;
- mState.X.abs += mState.X.rel;
- mState.Y.abs += mState.Y.rel;
+ mState.X.abs += dx;
+ mState.Y.abs += dy;
+ mState.X.rel += dx;
+ mState.Y.rel += dy;
//Check to see if we are grabbing the mouse to the window (requires clipping and warping)
if( grabMouse )
Modified: code/branches/kicklib2/src/external/ois/linux/LinuxPrereqs.h
===================================================================
--- code/branches/kicklib2/src/external/ois/linux/LinuxPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/linux/LinuxPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -31,7 +31,7 @@
#include "OISPrereqs.h"
//! Max number of elements to collect from buffered input
-#define JOY_BUFFERSIZE 10
+#define JOY_BUFFERSIZE 64
namespace OIS
{
Modified: code/branches/kicklib2/src/external/ois/mac/CMakeLists.txt
===================================================================
--- code/branches/kicklib2/src/external/ois/mac/CMakeLists.txt 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/mac/CMakeLists.txt 2011-04-21 16:58:23 UTC (rev 8284)
@@ -2,15 +2,17 @@
MacHelpers.h
MacHIDManager.h
MacInputManager.h
+ MacJoyStick.h
MacKeyboard.h
MacMouse.h
MacPrereqs.h
-COMPILATION_BEGIN OISMacCompilation.cpp
+#COMPILATION_BEGIN OISMacCompilation.cpp
MacHelpers.cpp
MacHIDManager.cpp
MacInputManager.cpp
+ MacJoyStick.cpp
MacKeyboard.cpp
MacMouse.cpp
-COMPILATION_END
+#COMPILATION_END
)
Modified: code/branches/kicklib2/src/external/ois/mac/MacHIDManager.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/mac/MacHIDManager.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/mac/MacHIDManager.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -19,8 +19,9 @@
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
-*/
+ */
#include "mac/MacHIDManager.h"
+#include "mac/MacJoyStick.h"
#include "OISException.h"
#include "OISObject.h"
@@ -41,7 +42,7 @@
CFArrayRef getDictionaryItemAsRef(CFDictionaryRef dict, const char* keyName)
{
CFTypeRef temp = CFDictionaryGetValue(dict, OIS_CFString(keyName));
-
+
if(temp && CFGetTypeID(temp) == CFArrayGetTypeID())
return (CFArrayRef)temp;
else
@@ -52,7 +53,7 @@
CFStringRef getDictionaryItemAsRef(CFDictionaryRef dict, const char* keyName)
{
CFTypeRef temp = CFDictionaryGetValue(dict, OIS_CFString(keyName));
-
+
if(temp && CFGetTypeID(temp) == CFStringGetTypeID())
return (CFStringRef)temp;
else
@@ -63,7 +64,7 @@
CFNumberRef getDictionaryItemAsRef(CFDictionaryRef dict, const char* keyName)
{
CFTypeRef temp = CFDictionaryGetValue(dict, OIS_CFString(keyName));
-
+
if(temp && CFGetTypeID(temp) == CFNumberGetTypeID())
return (CFNumberRef)temp;
else
@@ -82,7 +83,7 @@
CFDictionaryRef getArrayItemAsRef(CFArrayRef array, CFIndex idx)
{
CFTypeRef temp = CFArrayGetValueAtIndex(array, idx);
-
+
if(temp && CFGetTypeID(temp) == CFDictionaryGetTypeID())
return (CFDictionaryRef)temp;
else
@@ -92,10 +93,10 @@
//------------------------------------------------------------------------------------------------------//
int getInt32(CFNumberRef ref)
{
- int r = 0;
- if (r)
- CFNumberGetValue(ref, kCFNumberIntType, &r);
- return r;
+ int r = 0;
+ if (r)
+ CFNumberGetValue(ref, kCFNumberIntType, &r);
+ return r;
}
//--------------------------------------------------------------------------------//
@@ -111,70 +112,97 @@
//------------------------------------------------------------------------------------------------------//
void MacHIDManager::initialize()
{
+ //Make the search more specific by adding usage flags
+ int usage = kHIDUsage_GD_Joystick;
+ int page = kHIDPage_GenericDesktop;
+
+ io_iterator_t iterator = lookUpDevices(usage, page);
+
+ if(iterator)
+ iterateAndOpenDevices(iterator);
+
+ //Doesn't support multiple usage flags, iterate twice
+ usage = kHIDUsage_GD_GamePad;
+ iterator = lookUpDevices(usage, page);
+
+ if(iterator)
+ iterateAndOpenDevices(iterator);
+}
+
+//------------------------------------------------------------------------------------------------------//
+io_iterator_t MacHIDManager::lookUpDevices(int usage, int page)
+{
CFMutableDictionaryRef deviceLookupMap = IOServiceMatching(kIOHIDDeviceKey);
if(!deviceLookupMap)
OIS_EXCEPT(E_General, "Could not setup HID device search parameters");
-
- //Make the search more specific by adding usage flags
- int usage = kHIDUsage_GD_GamePad | kHIDUsage_GD_Joystick,
- page = kHIDPage_GenericDesktop;
-
- CFNumberRef usageRef = CFNumberCreate(kCFAllocatorDefault, kCFNumberIntType, &usage),
- pageRef = CFNumberCreate(kCFAllocatorDefault, kCFNumberIntType, &page);
-
+
+ CFNumberRef usageRef = CFNumberCreate(kCFAllocatorDefault, kCFNumberIntType, &usage);
+ CFNumberRef pageRef = CFNumberCreate(kCFAllocatorDefault, kCFNumberIntType, &page);
+
CFDictionarySetValue(deviceLookupMap, CFSTR(kIOHIDPrimaryUsageKey), usageRef);
CFDictionarySetValue(deviceLookupMap, CFSTR(kIOHIDPrimaryUsagePageKey), pageRef);
-
+
//IOServiceGetMatchingServices consumes the map so we do not have to release it ourself
io_iterator_t iterator = 0;
IOReturn result = IOServiceGetMatchingServices(kIOMasterPortDefault, deviceLookupMap, &iterator);
- if (result == kIOReturnSuccess && iterator)
+
+ CFRelease(usageRef);
+ CFRelease(pageRef);
+
+ if(result == kIOReturnSuccess)
{
- io_object_t hidDevice = 0;
- while ((hidDevice = IOIteratorNext(iterator)) !=0)
+ return iterator;
+ }
+ //TODO: Throw exception instead?
+ else
+ {
+ return 0;
+ }
+}
+
+//------------------------------------------------------------------------------------------------------//
+void MacHIDManager::iterateAndOpenDevices(io_iterator_t iterator)
+{
+ io_object_t hidDevice = 0;
+ while ((hidDevice = IOIteratorNext(iterator)) !=0)
+ {
+ //Get the current registry items property map
+ CFMutableDictionaryRef propertyMap = 0;
+ if (IORegistryEntryCreateCFProperties(hidDevice, &propertyMap, kCFAllocatorDefault, kNilOptions) == KERN_SUCCESS && propertyMap)
{
- //Get the current registry items property map
- CFMutableDictionaryRef propertyMap = 0;
- if (IORegistryEntryCreateCFProperties(hidDevice, &propertyMap, kCFAllocatorDefault, kNilOptions) == KERN_SUCCESS && propertyMap)
+ //Go through device to find all needed info
+ HidInfo* hid = enumerateDeviceProperties(propertyMap);
+
+ if(hid)
{
- //Go through device to find all needed info
- HidInfo* hid = enumerateDeviceProperties(propertyMap);
- if(hid)
- mDeviceList.push_back(hid);
-
//todo - we need to hold an open interface so we do not have to enumerate again later
//should be able to watch for device removals also
-
- /// Testing opening / closing interface
- //IOCFPlugInInterface **pluginInterface = NULL;
- //SInt32 score = 0;
- //if (IOCreatePlugInInterfaceForService(hidDevice, kIOHIDDeviceUserClientTypeID, kIOCFPlugInInterfaceID, &pluginInterface, &score) == kIOReturnSuccess)
- //{
- // IOHIDDeviceInterface **interface;
- // HRESULT pluginResult = (*pluginInterface)->QueryInterface(pluginInterface, CFUUIDGetUUIDBytes(kIOHIDDeviceInterfaceID), (void **)&(interface));
- // if(pluginResult == S_OK)
- // cout << "Successfully created plugin interface for device\n";
- // else
- // cout << "Not able to create plugin interface\n";
-
- // IODestroyPlugInInterface(pluginInterface);
-
- // if ((*interface)->open(interface, 0) == KERN_SUCCESS)
- // cout << "Opened interface.\n";
- // else
- // cout << "Failed to open\n";
-
- // (*interface)->close(interface);
- //}
- //
+
+ // Testing opening / closing interface
+ IOCFPlugInInterface **pluginInterface = NULL;
+ SInt32 score = 0;
+ if (IOCreatePlugInInterfaceForService(hidDevice, kIOHIDDeviceUserClientTypeID, kIOCFPlugInInterfaceID, &pluginInterface, &score) == kIOReturnSuccess)
+ {
+ IOHIDDeviceInterface **interface;
+
+ HRESULT pluginResult = (*pluginInterface)->QueryInterface(pluginInterface, CFUUIDGetUUIDBytes(kIOHIDDeviceInterfaceID), (void **)&(interface));
+
+ if(pluginResult != S_OK)
+ OIS_EXCEPT(E_General, "Not able to create plugin interface");
+
+ IODestroyPlugInInterface(pluginInterface);
+
+ hid->interface = interface;
+
+ //Check for duplicates - some devices have multiple usage
+ if(std::find(mDeviceList.begin(), mDeviceList.end(), hid) == mDeviceList.end())
+ mDeviceList.push_back(hid);
+ }
}
}
-
- IOObjectRelease(iterator);
}
-
- CFRelease(usageRef);
- CFRelease(pageRef);
+
+ IOObjectRelease(iterator);
}
//------------------------------------------------------------------------------------------------------//
@@ -187,19 +215,19 @@
CFStringRef str = getDictionaryItemAsRef<CFStringRef>(propertyMap, kIOHIDManufacturerKey);
if (str)
info->vendor = CFStringGetCStringPtr(str, CFStringGetSystemEncoding());
-
+
str = getDictionaryItemAsRef<CFStringRef>(propertyMap, kIOHIDProductKey);
if (str)
info->productKey = CFStringGetCStringPtr(str, CFStringGetSystemEncoding());
-
+
info->combinedKey = info->vendor + " " + info->productKey;
-
+
//Go through all items in this device (i.e. buttons, hats, sticks, axes, etc)
CFArrayRef array = getDictionaryItemAsRef<CFArrayRef>(propertyMap, kIOHIDElementKey);
if (array)
for (int i = 0; i < CFArrayGetCount(array); i++)
parseDeviceProperties(getArrayItemAsRef<CFDictionaryRef>(array, i));
-
+
return info;
}
@@ -208,7 +236,7 @@
{
if(!properties)
return;
-
+
CFArrayRef array = getDictionaryItemAsRef<CFArrayRef>(properties, kIOHIDElementKey);
if (array)
{
@@ -226,34 +254,34 @@
{
switch(getInt32(getDictionaryItemAsRef<CFNumberRef>(element, kIOHIDElementUsagePageKey)))
{
- case kHIDPage_GenericDesktop:
- switch(getInt32(getDictionaryItemAsRef<CFNumberRef>(element, kIOHIDElementUsageKey)))
+ case kHIDPage_GenericDesktop:
+ switch(getInt32(getDictionaryItemAsRef<CFNumberRef>(element, kIOHIDElementUsageKey)))
{
- case kHIDUsage_GD_Pointer:
- cout << "\tkHIDUsage_GD_Pointer\n";
- parseDevicePropertiesGroup(element);
+ case kHIDUsage_GD_Pointer:
+ cout << "\tkHIDUsage_GD_Pointer\n";
+ parseDevicePropertiesGroup(element);
+ break;
+ case kHIDUsage_GD_X:
+ case kHIDUsage_GD_Y:
+ case kHIDUsage_GD_Z:
+ case kHIDUsage_GD_Rx:
+ case kHIDUsage_GD_Ry:
+ case kHIDUsage_GD_Rz:
+ cout << "\tAxis\n";
+ break;
+ case kHIDUsage_GD_Slider:
+ case kHIDUsage_GD_Dial:
+ case kHIDUsage_GD_Wheel:
+ cout << "\tUnsupported kHIDUsage_GD_Wheel\n";
+ break;
+ case kHIDUsage_GD_Hatswitch:
+ cout << "\tUnsupported - kHIDUsage_GD_Hatswitch\n";
+ break;
+ }
break;
- case kHIDUsage_GD_X:
- case kHIDUsage_GD_Y:
- case kHIDUsage_GD_Z:
- case kHIDUsage_GD_Rx:
- case kHIDUsage_GD_Ry:
- case kHIDUsage_GD_Rz:
- cout << "\tAxis\n";
+ case kHIDPage_Button:
+ cout << "\tkHIDPage_Button\n";
break;
- case kHIDUsage_GD_Slider:
- case kHIDUsage_GD_Dial:
- case kHIDUsage_GD_Wheel:
- cout << "\tUnsupported kHIDUsage_GD_Wheel\n";
- break;
- case kHIDUsage_GD_Hatswitch:
- cout << "\tUnsupported - kHIDUsage_GD_Hatswitch\n";
- break;
- }
- break;
- case kHIDPage_Button:
- cout << "\tkHIDPage_Button\n";
- break;
}
}
}
@@ -266,7 +294,7 @@
{
if(!properties)
return;
-
+
CFArrayRef array = getDictionaryItemAsRef<CFArrayRef>(properties, kIOHIDElementKey);
if(array)
{
@@ -277,29 +305,29 @@
{
switch(getInt32(getDictionaryItemAsRef<CFNumberRef>(element, kIOHIDElementUsagePageKey)))
{
- case kHIDPage_GenericDesktop:
- switch(getInt32(getDictionaryItemAsRef<CFNumberRef>(element, kIOHIDElementUsageKey)))
+ case kHIDPage_GenericDesktop:
+ switch(getInt32(getDictionaryItemAsRef<CFNumberRef>(element, kIOHIDElementUsageKey)))
{
- case kHIDUsage_GD_X:
- case kHIDUsage_GD_Y:
- case kHIDUsage_GD_Z:
- case kHIDUsage_GD_Rx:
- case kHIDUsage_GD_Ry:
- case kHIDUsage_GD_Rz:
- cout << "\t\tAxis\n";
+ case kHIDUsage_GD_X:
+ case kHIDUsage_GD_Y:
+ case kHIDUsage_GD_Z:
+ case kHIDUsage_GD_Rx:
+ case kHIDUsage_GD_Ry:
+ case kHIDUsage_GD_Rz:
+ cout << "\t\tAxis\n";
+ break;
+ case kHIDUsage_GD_Slider:
+ case kHIDUsage_GD_Dial:
+ case kHIDUsage_GD_Wheel:
+ cout << "\tUnsupported - kHIDUsage_GD_Wheel\n";
+ break;
+ case kHIDUsage_GD_Hatswitch:
+ cout << "\tUnsupported - kHIDUsage_GD_Hatswitch\n";
+ break;
+ }
break;
- case kHIDUsage_GD_Slider:
- case kHIDUsage_GD_Dial:
- case kHIDUsage_GD_Wheel:
- cout << "\tUnsupported - kHIDUsage_GD_Wheel\n";
+ case kHIDPage_Button:
break;
- case kHIDUsage_GD_Hatswitch:
- cout << "\tUnsupported - kHIDUsage_GD_Hatswitch\n";
- break;
- }
- break;
- case kHIDPage_Button:
- break;
}
}
}
@@ -316,7 +344,7 @@
if((*it)->inUse == false)
ret.insert(std::make_pair((*it)->type, (*it)->combinedKey));
}
-
+
return ret;
}
@@ -325,7 +353,7 @@
{
int ret = 0;
HidInfoList::iterator it = mDeviceList.begin(), end = mDeviceList.end();
-
+
for(; it != end; ++it)
{
if((*it)->type == iType)
@@ -340,13 +368,13 @@
{
int ret = 0;
HidInfoList::iterator it = mDeviceList.begin(), end = mDeviceList.end();
-
+
for(; it != end; ++it)
{
if((*it)->inUse == false && (*it)->type == iType)
ret++;
}
-
+
return ret;
}
@@ -354,7 +382,7 @@
bool MacHIDManager::vendorExist(Type iType, const std::string & vendor)
{
HidInfoList::iterator it = mDeviceList.begin(), end = mDeviceList.end();
-
+
for(; it != end; ++it)
{
if((*it)->type == iType && (*it)->combinedKey == vendor)
@@ -366,22 +394,36 @@
//--------------------------------------------------------------------------------//
Object* MacHIDManager::createObject(InputManager* creator, Type iType, bool bufferMode,
- const std::string & vendor)
+ const std::string & vendor)
{
Object *obj = 0;
-
+
HidInfoList::iterator it = mDeviceList.begin(), end = mDeviceList.end();
for(; it != end; ++it)
{
if((*it)->inUse == false && (*it)->type == iType && (vendor == "" || (*it)->combinedKey == vendor))
{
- //create device
+ switch(iType)
+ {
+ case OISJoyStick:
+ {
+ int totalDevs = totalDevices(iType);
+ int freeDevs = freeDevices(iType);
+ int devID = totalDevs - freeDevs;
+
+ obj = new MacJoyStick((*it)->combinedKey, bufferMode, *it, creator, devID);
+ (*it)->inUse = true;
+ return obj;
+ }
+ case OISTablet:
+ //Create MacTablet
+ break;
+ default:
+ break;
+ }
}
}
-
- if( obj == 0 )
- OIS_EXCEPT(E_InputDeviceNonExistant, "No devices match requested type.");
-
+
return obj;
}
Modified: code/branches/kicklib2/src/external/ois/mac/MacHIDManager.h
===================================================================
--- code/branches/kicklib2/src/external/ois/mac/MacHIDManager.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/mac/MacHIDManager.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -69,6 +69,9 @@
~MacHIDManager();
void initialize();
+
+ void iterateAndOpenDevices(io_iterator_t iterator);
+ io_iterator_t lookUpDevices(int usage, int page);
//FactoryCreator Overrides
/** @copydoc FactoryCreator::deviceList */
Modified: code/branches/kicklib2/src/external/ois/mac/MacInputManager.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/mac/MacInputManager.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/mac/MacInputManager.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -187,8 +187,11 @@
break;
}
default:
+ {
+ obj = mHIDManager->createObject(creator, iType, bufferMode, vendor);
break;
}
+ }
if( obj == 0 )
OIS_EXCEPT(E_InputDeviceNonExistant, "No devices match requested type.");
Copied: code/branches/kicklib2/src/external/ois/mac/MacJoyStick.cpp (from rev 8096, code/branches/kicklib/src/external/ois/mac/MacJoyStick.cpp)
===================================================================
--- code/branches/kicklib2/src/external/ois/mac/MacJoyStick.cpp (rev 0)
+++ code/branches/kicklib2/src/external/ois/mac/MacJoyStick.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,325 @@
+/*
+ The zlib/libpng License
+
+ Copyright (c) 2005-2007 Phillip Castaneda (pjcast -- www.wreckedgames.com)
+
+ 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 "mac/MacJoyStick.h"
+#include "mac/MacHIDManager.h"
+#include "mac/MacInputManager.h"
+#include "OISEvents.h"
+#include "OISException.h"
+
+#include <cassert>
+
+using namespace OIS;
+
+//--------------------------------------------------------------------------------------------------//
+MacJoyStick::MacJoyStick(const std::string &vendor, bool buffered, HidInfo* info, InputManager* creator, int devID) :
+JoyStick(vendor, buffered, devID, creator), mInfo(info)
+{
+
+}
+
+//--------------------------------------------------------------------------------------------------//
+MacJoyStick::~MacJoyStick()
+{
+ //TODO: check if the queue has been started first?
+ //(*mQueue)->stop(mQueue);
+ (*mQueue)->dispose(mQueue);
+ (*mQueue)->Release(mQueue);
+
+
+ //TODO: check if the interface has been opened first?
+ (*mInfo->interface)->close(mInfo->interface);
+ (*mInfo->interface)->Release(mInfo->interface);
+}
+
+//--------------------------------------------------------------------------------------------------//
+void MacJoyStick::_initialize()
+{
+ assert(mInfo && "Given HidInfo invalid");
+ assert(mInfo->interface && "Joystick interface invalid");
+
+ //TODO: Is this necessary?
+ //Clear old state
+ mState.mAxes.clear();
+
+ if ((*mInfo->interface)->open(mInfo->interface, 0) != KERN_SUCCESS)
+ OIS_EXCEPT(E_General, "MacJoyStick::_initialize() >> Could not initialize joy device!");
+
+ mState.clear();
+
+ _enumerateCookies();
+
+ mState.mButtons.resize(mInfo->numButtons);
+ mState.mAxes.resize(mInfo->numAxes);
+
+ mQueue = _createQueue();
+}
+
+class FindAxisCookie : public std::unary_function<std::pair<IOHIDElementCookie, AxisInfo>&, bool>
+{
+public:
+ FindAxisCookie(IOHIDElementCookie cookie) : m_Cookie(cookie) {}
+ bool operator()(const std::pair<IOHIDElementCookie, AxisInfo>& pair) const
+ {
+ return pair.first == m_Cookie;
+ }
+private:
+ IOHIDElementCookie m_Cookie;
+};
+
+//--------------------------------------------------------------------------------------------------//
+void MacJoyStick::capture()
+{
+ assert(mQueue && "Queue must be initialized before calling MacJoyStick::capture()");
+
+ AbsoluteTime zeroTime = {0,0};
+
+ IOHIDEventStruct event;
+ IOReturn result = (*mQueue)->getNextEvent(mQueue, &event, zeroTime, 0);
+ while(result == kIOReturnSuccess)
+ {
+ switch(event.type)
+ {
+ case kIOHIDElementTypeInput_Button:
+ {
+ std::vector<IOHIDElementCookie>::iterator buttonIt = std::find(mCookies.buttonCookies.begin(), mCookies.buttonCookies.end(), event.elementCookie);
+ int button = std::distance(mCookies.buttonCookies.begin(), buttonIt);
+ mState.mButtons[button] = (event.value == 1);
+
+ if(mBuffered && mListener)
+ {
+ if(event.value == 0)
+ mListener->buttonPressed(JoyStickEvent(this, mState), button);
+ else if(event.value == 1)
+ mListener->buttonReleased(JoyStickEvent(this, mState), button);
+ }
+ break;
+ }
+ case kIOHIDElementTypeInput_Misc:
+ //TODO: It's an axis! - kind of - for gamepads - or should this be a pov?
+ case kIOHIDElementTypeInput_Axis:
+ std::map<IOHIDElementCookie, AxisInfo>::iterator axisIt = std::find_if(mCookies.axisCookies.begin(), mCookies.axisCookies.end(), FindAxisCookie(event.elementCookie));
+ int axis = std::distance(mCookies.axisCookies.begin(), axisIt);
+
+ //Copied from LinuxJoyStickEvents.cpp, line 149
+ const AxisInfo& axisInfo = axisIt->second;
+ float proportion = (float) (event.value - axisInfo.max) / (float) (axisInfo.min - axisInfo.max);
+ mState.mAxes[axis].abs = -JoyStick::MIN_AXIS - (JoyStick::MAX_AXIS * 2 * proportion);
+
+ if(mBuffered && mListener) mListener->axisMoved(JoyStickEvent(this, mState), axis);
+ break;
+ }
+
+ result = (*mQueue)->getNextEvent(mQueue, &event, zeroTime, 0);
+ }
+}
+
+//--------------------------------------------------------------------------------------------------//
+void MacJoyStick::setBuffered(bool buffered)
+{
+ mBuffered = buffered;
+}
+
+//--------------------------------------------------------------------------------------------------//
+Interface* MacJoyStick::queryInterface(Interface::IType type)
+{
+ //Thought about using covariant return type here.. however,
+ //some devices may allow LED light changing, or other interface stuff
+
+ //f( ff_device && type == Interface::ForceFeedback )
+ //return ff_device;
+ //else
+ return 0;
+}
+
+//--------------------------------------------------------------------------------------------------//
+void MacJoyStick::_enumerateCookies()
+{
+ assert(mInfo && "Given HidInfo invalid");
+ assert(mInfo->interface && "Joystick interface invalid");
+
+ CFTypeRef object;
+ long number;
+ IOHIDElementCookie cookie;
+ long usage;
+ long usagePage;
+ int min;
+ int max;
+
+ CFDictionaryRef element;
+
+ // Copy all elements, since we're grabbing most of the elements
+ // for this device anyway, and thus, it's faster to iterate them
+ // ourselves. When grabbing only one or two elements, a matching
+ // dictionary should be passed in here instead of NULL.
+ CFArrayRef elements;
+ IOReturn success = reinterpret_cast<IOHIDDeviceInterface122*>(*mInfo->interface)->copyMatchingElements(mInfo->interface, NULL, &elements);
+
+ if (success == kIOReturnSuccess)
+ {
+ const CFIndex numOfElements = CFArrayGetCount(elements);
+ for (CFIndex i = 0; i < numOfElements; ++i)
+ {
+ element = static_cast<CFDictionaryRef>(CFArrayGetValueAtIndex(elements, i));
+
+ //Get cookie
+ object = (CFDictionaryGetValue(element,
+ CFSTR(kIOHIDElementCookieKey)));
+ if (object == 0 || CFGetTypeID(object) != CFNumberGetTypeID())
+ continue;
+ if(!CFNumberGetValue((CFNumberRef) object, kCFNumberLongType,
+ &number))
+ continue;
+ cookie = (IOHIDElementCookie) number;
+
+ //Get usage
+ object = CFDictionaryGetValue(element,
+ CFSTR(kIOHIDElementUsageKey));
+ if (object == 0 || CFGetTypeID(object) != CFNumberGetTypeID())
+ continue;
+ if (!CFNumberGetValue((CFNumberRef) object, kCFNumberLongType,
+ &number))
+ continue;
+ usage = number;
+
+ //Get min
+ object = CFDictionaryGetValue(element,
+ CFSTR(kIOHIDElementMinKey)); // kIOHIDElementMinKey or kIOHIDElementScaledMinKey?, no idea ...
+ if (object == 0 || CFGetTypeID(object) != CFNumberGetTypeID())
+ continue;
+ if (!CFNumberGetValue((CFNumberRef) object, kCFNumberIntType,
+ &number))
+ continue;
+ min = number;
+
+ //Get max
+ object = CFDictionaryGetValue(element,
+ CFSTR(kIOHIDElementMaxKey)); // kIOHIDElementMaxKey or kIOHIDElementScaledMaxKey?, no idea ...
+ if (object == 0 || CFGetTypeID(object) != CFNumberGetTypeID())
+ continue;
+ if (!CFNumberGetValue((CFNumberRef) object, kCFNumberIntType,
+ &number))
+ continue;
+ max = number;
+
+ //Get usage page
+ object = CFDictionaryGetValue(element,
+ CFSTR(kIOHIDElementUsagePageKey));
+
+ if (object == 0 || CFGetTypeID(object) != CFNumberGetTypeID())
+ continue;
+
+ if (!CFNumberGetValue((CFNumberRef) object, kCFNumberLongType,
+ &number))
+ continue;
+
+ usagePage = number;
+ switch(usagePage)
+ {
+ case kHIDPage_GenericDesktop:
+ switch(usage)
+ {
+ case kHIDUsage_GD_Pointer:
+ break;
+ case kHIDUsage_GD_X:
+ case kHIDUsage_GD_Y:
+ case kHIDUsage_GD_Z:
+ case kHIDUsage_GD_Rx:
+ case kHIDUsage_GD_Ry:
+ case kHIDUsage_GD_Rz:
+ mCookies.axisCookies.insert(std::make_pair(cookie, AxisInfo(min, max)));
+ break;
+ case kHIDUsage_GD_Slider:
+ case kHIDUsage_GD_Dial:
+ case kHIDUsage_GD_Wheel:
+ break;
+ case kHIDUsage_GD_Hatswitch:
+ break;
+ }
+ break;
+ case kHIDPage_Button:
+ mCookies.buttonCookies.push_back(cookie);
+ break;
+ }
+ }
+
+ mInfo->numButtons = mCookies.buttonCookies.size();
+ mInfo->numAxes = mCookies.axisCookies.size();
+
+ }
+ else
+ {
+ OIS_EXCEPT(E_General, "JoyStick elements could not be copied: copyMatchingElements failed with error: " + success);
+ }
+
+}
+
+//--------------------------------------------------------------------------------------------------//
+IOHIDQueueInterface** MacJoyStick::_createQueue(unsigned int depth)
+{
+ assert(mInfo && "Given HidInfo invalid");
+ assert(mInfo->interface && "Joystick interface invalid");
+
+ IOHIDQueueInterface** queue = (*mInfo->interface)->allocQueue(mInfo->interface);
+
+ if (queue)
+ {
+ //create the queue
+ IOReturn result = (*queue)->create(queue, 0, depth);
+
+ if(result == kIOReturnSuccess)
+ {
+ //add elements to the queue
+ std::map<IOHIDElementCookie, AxisInfo>::iterator axisIt = mCookies.axisCookies.begin();
+ for(; axisIt != mCookies.axisCookies.end(); ++axisIt)
+ {
+ result = (*queue)->addElement(queue, axisIt->first, 0);
+ }
+
+ std::vector<IOHIDElementCookie>::iterator buttonIt = mCookies.buttonCookies.begin();
+ for(; buttonIt != mCookies.buttonCookies.end(); ++buttonIt)
+ {
+ result = (*queue)->addElement(queue, (*buttonIt), 0);
+ }
+
+ //start data delivery to queue
+ result = (*queue)->start(queue);
+ if(result == kIOReturnSuccess)
+ {
+ return queue;
+ }
+ else
+ {
+ OIS_EXCEPT(E_General, "Queue could not be started.");
+ }
+ }
+ else
+ {
+ OIS_EXCEPT(E_General, "Queue could not be created.");
+ }
+ }
+ else
+ {
+ OIS_EXCEPT(E_General, "Queue allocation failed.");
+ }
+}
Copied: code/branches/kicklib2/src/external/ois/mac/MacJoyStick.h (from rev 8096, code/branches/kicklib/src/external/ois/mac/MacJoyStick.h)
===================================================================
--- code/branches/kicklib2/src/external/ois/mac/MacJoyStick.h (rev 0)
+++ code/branches/kicklib2/src/external/ois/mac/MacJoyStick.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,76 @@
+/*
+ The zlib/libpng License
+
+ Copyright (c) 2005-2007 Phillip Castaneda (pjcast -- www.wreckedgames.com)
+
+ 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.
+ */
+#ifndef MAC_Joystick_H
+#define MAC_Joystick_H
+#include "OISJoyStick.h"
+#include "mac/MacPrereqs.h"
+#include "mac/MacHIDManager.h"
+
+namespace OIS
+{
+ struct AxisInfo
+ {
+ int min;
+ int max;
+
+ AxisInfo(int min, int max)
+ : min(min), max(max) {}
+ };
+
+ typedef struct cookie_struct
+ {
+ std::map<IOHIDElementCookie, AxisInfo> axisCookies;
+ std::vector<IOHIDElementCookie> buttonCookies;
+ } cookie_struct_t;
+
+ //class HidDeviceInfo
+
+ class MacJoyStick : public JoyStick
+ {
+ public:
+ MacJoyStick(const std::string& vendor, bool buffered, HidInfo* info, InputManager* creator, int devID);
+
+ virtual ~MacJoyStick();
+
+ /** @copydoc Object::setBuffered */
+ virtual void setBuffered(bool buffered);
+
+ /** @copydoc Object::capture */
+ virtual void capture();
+
+ /** @copydoc Object::queryInterface */
+ virtual Interface* queryInterface(Interface::IType type);
+
+ /** @copydoc Object::_initialize */
+ virtual void _initialize();
+
+ void _enumerateCookies();
+
+ IOHIDQueueInterface** _createQueue(unsigned int depth = 8);
+ protected:
+ HidInfo* mInfo;
+ cookie_struct_t mCookies;
+ IOHIDQueueInterface** mQueue;
+ };
+}
+#endif
Modified: code/branches/kicklib2/src/external/ois/mac/MacKeyboard.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/mac/MacKeyboard.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/mac/MacKeyboard.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -198,20 +198,12 @@
UniChar text[10];
char macChar;
- // TODO clean this up
if (mTextMode == Unicode)
{
//get string size
UInt32 stringsize;
- //status = GetEventParameter( theEvent, 'kuni', typeUnicodeText, NULL, 0, &stringsize, NULL);
- //status = GetEventParameter( theEvent, 'kuni', typeUnicodeText, NULL, sizeof(UniChar)*10, NULL, &text );
status = GetEventParameter( theEvent, 'kuni', typeUnicodeText, NULL, sizeof(UniChar) * 10, &stringsize, &text );
- std::cout << "String length: " << stringsize << std::endl;
- //wstring unitext;
- //for (int i=0;i<10;i++) unitext += (wchar_t)text[i];
- //wcout << "Unicode out: " << unitext << endl;
-
if(stringsize > 0)
{
// for each unicode char, send an event
Modified: code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,9 +20,9 @@
3. This notice may not be removed or altered from any source distribution.
*/
-#include "Win32/Win32ForceFeedback.h"
+#include "win32/Win32ForceFeedback.h"
#include "OISException.h"
-#include <Math.h>
+#include <math.h>
// 0 = No trace; 1 = Important traces; 2 = Debug traces
#define OIS_WIN32_JOYFF_DEBUG 0
Modified: code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.h
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32ForceFeedback.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -25,7 +25,7 @@
#include "OISPrereqs.h"
#include "OISForceFeedback.h"
-#include "Win32/Win32Prereqs.h"
+#include "win32/Win32Prereqs.h"
namespace OIS
{
Modified: code/branches/kicklib2/src/external/ois/win32/Win32InputManager.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32InputManager.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32InputManager.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,10 +20,10 @@
3. This notice may not be removed or altered from any source distribution.
*/
-#include "Win32/Win32InputManager.h"
-#include "Win32/Win32Keyboard.h"
-#include "Win32/Win32Mouse.h"
-#include "Win32/Win32JoyStick.h"
+#include "win32/Win32InputManager.h"
+#include "win32/Win32KeyBoard.h"
+#include "win32/Win32Mouse.h"
+#include "win32/Win32JoyStick.h"
#include "OISException.h"
using namespace OIS;
@@ -74,7 +74,7 @@
hInst = GetModuleHandle(0);
- //Create the input system
+ //Create the device
hr = DirectInput8Create( hInst, DIRECTINPUT_VERSION, IID_IDirectInput8, (VOID**)&mDirectInput, NULL );
if (FAILED(hr))
OIS_EXCEPT( E_General, "Win32InputManager::Win32InputManager >> Not able to init DirectX8 Input!");
@@ -117,7 +117,20 @@
void Win32InputManager::_enumerateDevices()
{
//Enumerate all attached devices
- mDirectInput->EnumDevices(NULL , _DIEnumDevCallback, this, DIEDFL_ATTACHEDONLY);
+ mDirectInput->EnumDevices(NULL, _DIEnumDevCallback, this, DIEDFL_ATTACHEDONLY);
+
+#ifdef OIS_WIN32_XINPUT_SUPPORT
+ //let's check how many possible XInput devices we may have (max 4)...
+ for(int i = 0; i < 3; ++i)
+ {
+ XINPUT_STATE state;
+ if(XInputGetState(i, &state) != ERROR_DEVICE_NOT_CONNECTED)
+ { //Once we found 1, just check our whole list against devices
+ Win32JoyStick::CheckXInputDevices(unusedJoyStickList);
+ break;
+ }
+ }
+#endif
}
//--------------------------------------------------------------------------------//
@@ -133,6 +146,8 @@
GET_DIDEVICE_TYPE(lpddi->dwDevType) == DI8DEVTYPE_FLIGHT)
{
JoyStickInfo jsInfo;
+ jsInfo.isXInput = false;
+ jsInfo.productGuid = lpddi->guidProduct;
jsInfo.deviceID = lpddi->guidInstance;
jsInfo.vendor = lpddi->tszInstanceName;
jsInfo.devId = _this_->joySticks;
Modified: code/branches/kicklib2/src/external/ois/win32/Win32InputManager.h
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32InputManager.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32InputManager.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -25,7 +25,7 @@
#include "OISInputManager.h"
#include "OISFactoryCreator.h"
-#include "Win32/Win32Prereqs.h"
+#include "win32/Win32Prereqs.h"
namespace OIS
{
Modified: code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,14 +20,42 @@
3. This notice may not be removed or altered from any source distribution.
*/
-#include "Win32/Win32JoyStick.h"
-#include "Win32/Win32InputManager.h"
-#include "Win32/Win32ForceFeedback.h"
+#include "win32/Win32JoyStick.h"
+#include "win32/Win32InputManager.h"
+#include "win32/Win32ForceFeedback.h"
#include "OISEvents.h"
#include "OISException.h"
+// (Orxonox): Required for MinGW to compile properly
+#ifdef __MINGW32__
+# include <oaidl.h>
+# ifndef __MINGW_EXTENSION
+# define __MINGW_EXTENSION __extension__
+# endif
+#endif
+
#include <cassert>
+#include <wbemidl.h>
+#include <oleauto.h>
+//#include <wmsstd.h>
+#ifndef SAFE_RELEASE
+#define SAFE_RELEASE(x) \
+ if(x != NULL) \
+ { \
+ x->Release(); \
+ x = NULL; \
+ }
+#endif
+// (Orxonox): MinGW doesn't have swscanf_s
+#ifdef __MINGW32__
+# define swscanf_s swscanf
+#endif
+
+#ifdef OIS_WIN32_XINPUT_SUPPORT
+# pragma comment(lib, "xinput.lib")
+#endif
+
//DX Only defines macros for the JOYSTICK not JOYSTICK2, so fix it
#undef DIJOFS_BUTTON
#undef DIJOFS_POV
@@ -39,26 +67,26 @@
#define DIJOFS_SLIDER2(n) (FIELD_OFFSET(DIJOYSTATE2, rglASlider)+(n) * sizeof(LONG))
#define DIJOFS_SLIDER3(n) (FIELD_OFFSET(DIJOYSTATE2, rglFSlider)+(n) * sizeof(LONG))
+#define XINPUT_TRANSLATED_BUTTON_COUNT 12
+#define XINPUT_TRANSLATED_AXIS_COUNT 6
+
using namespace OIS;
//--------------------------------------------------------------------------------------------------//
-Win32JoyStick::Win32JoyStick( InputManager* creator, IDirectInput8* pDI,
- bool buffered, DWORD coopSettings, const JoyStickInfo &info )
- : JoyStick(info.vendor, buffered, info.devId, creator)
+Win32JoyStick::Win32JoyStick( InputManager* creator, IDirectInput8* pDI, bool buffered, DWORD coopSettings, const JoyStickInfo &info ) :
+ JoyStick(info.vendor, buffered, info.devId, creator),
+ mDirectInput(pDI),
+ coopSetting(coopSettings),
+ mJoyStick(0),
+ mJoyInfo(info),
+ mFfDevice(0)
{
- mDirectInput = pDI;
- coopSetting = coopSettings;
- mJoyStick = 0;
-
- deviceGuid = info.deviceID;
-
- ff_device = 0;
}
//--------------------------------------------------------------------------------------------------//
Win32JoyStick::~Win32JoyStick()
{
- delete ff_device;
+ delete mFfDevice;
if(mJoyStick)
{
@@ -68,80 +96,86 @@
}
//Return joystick to pool
- JoyStickInfo js;
- js.deviceID = deviceGuid;
- js.devId = mDevID;
- js.vendor = mVendor;
- static_cast<Win32InputManager*>(mCreator)->_returnJoyStick(js);
+ static_cast<Win32InputManager*>(mCreator)->_returnJoyStick(mJoyInfo);
}
//--------------------------------------------------------------------------------------------------//
void Win32JoyStick::_initialize()
{
- //Clear old state
- mState.mAxes.clear();
+ if (mJoyInfo.isXInput)
+ {
+ _enumerate();
+ }
+ else
+ {
+ //Clear old state
+ mState.mAxes.clear();
- if (ff_device)
- {
- delete ff_device;
- ff_device = 0;
- }
+ delete mFfDevice;
+ mFfDevice = 0;
- // Create direct input joystick device.
- if(FAILED(mDirectInput->CreateDevice(deviceGuid, &mJoyStick, NULL)))
- OIS_EXCEPT( E_General, "Win32JoyStick::_initialize() >> Could not initialize joy device!");
+ DIPROPDWORD dipdw;
- // Set DIJoystick2 data format.
- if(FAILED(mJoyStick->SetDataFormat(&c_dfDIJoystick2)))
- OIS_EXCEPT( E_General, "Win32JoyStick::_initialize() >> data format error!");
+ dipdw.diph.dwSize = sizeof(DIPROPDWORD);
+ dipdw.diph.dwHeaderSize = sizeof(DIPROPHEADER);
+ dipdw.diph.dwObj = 0;
+ dipdw.diph.dwHow = DIPH_DEVICE;
+ dipdw.dwData = JOYSTICK_DX_BUFFERSIZE;
- // Set cooperative level as specified when creating input manager.
- HWND hwin = ((Win32InputManager*)mCreator)->getWindowHandle();
- if(FAILED(mJoyStick->SetCooperativeLevel( hwin, coopSetting)))
- OIS_EXCEPT( E_General, "Win32JoyStick::_initialize() >> failed to set cooperation level!");
+ if(FAILED(mDirectInput->CreateDevice(mJoyInfo.deviceID, &mJoyStick, NULL)))
+ OIS_EXCEPT( E_General, "Win32JoyStick::_initialize() >> Could not initialize joy device!");
- // Set buffer size.
- DIPROPDWORD dipdw;
- dipdw.diph.dwSize = sizeof(DIPROPDWORD);
- dipdw.diph.dwHeaderSize = sizeof(DIPROPHEADER);
- dipdw.diph.dwObj = 0;
- dipdw.diph.dwHow = DIPH_DEVICE;
- dipdw.dwData = JOYSTICK_DX_BUFFERSIZE;
+ if(FAILED(mJoyStick->SetDataFormat(&c_dfDIJoystick2)))
+ OIS_EXCEPT( E_General, "Win32JoyStick::_initialize() >> data format error!");
- if( FAILED(mJoyStick->SetProperty(DIPROP_BUFFERSIZE, &dipdw.diph)) )
- OIS_EXCEPT( E_General, "Win32JoyStick::_initialize >> Failed to set buffer size property" );
+ HWND hwin = ((Win32InputManager*)mCreator)->getWindowHandle();
- // Enumerate all axes/buttons/sliders/force feedback/etc before aquiring
- _enumerate();
+ if(FAILED(mJoyStick->SetCooperativeLevel( hwin, coopSetting)))
+ OIS_EXCEPT( E_General, "Win32JoyStick::_initialize() >> failed to set cooperation level!");
- mState.clear();
+ if( FAILED(mJoyStick->SetProperty(DIPROP_BUFFERSIZE, &dipdw.diph)) )
+ OIS_EXCEPT( E_General, "Win32Mouse::Win32Mouse >> Failed to set buffer size property" );
- capture();
+ //Enumerate all axes/buttons/sliders/etc before aquiring
+ _enumerate();
+
+ mState.clear();
+
+ capture();
+ }
}
//--------------------------------------------------------------------------------------------------//
void Win32JoyStick::_enumerate()
{
- // Get joystick capabilities.
- mDIJoyCaps.dwSize = sizeof(DIDEVCAPS);
- if( FAILED(mJoyStick->GetCapabilities(&mDIJoyCaps)) )
- OIS_EXCEPT( E_General, "Win32JoyStick::_enumerate >> Failed to get capabilities" );
+ if (mJoyInfo.isXInput)
+ {
+ mPOVs = 1;
- // => Number of POVs
- mPOVs = (short)mDIJoyCaps.dwPOVs;
+ mState.mButtons.resize(XINPUT_TRANSLATED_BUTTON_COUNT);
+ mState.mAxes.resize(XINPUT_TRANSLATED_AXIS_COUNT);
+ }
+ else
+ {
+ // Get joystick capabilities.
+ mDIJoyCaps.dwSize = sizeof(DIDEVCAPS);
+ if( FAILED(mJoyStick->GetCapabilities(&mDIJoyCaps)) )
+ OIS_EXCEPT( E_General, "Win32JoyStick::_enumerate >> Failed to get capabilities" );
- // => Number of buttons and axes.
- mState.mButtons.resize(mDIJoyCaps.dwButtons);
- mState.mAxes.resize(mDIJoyCaps.dwAxes);
+ mPOVs = (short)mDIJoyCaps.dwPOVs;
- // Enumerate all Force Feedback effects (if any)
- mJoyStick->EnumEffects(DIEnumEffectsCallback, this, DIEFT_ALL);
+ mState.mButtons.resize(mDIJoyCaps.dwButtons);
+ mState.mAxes.resize(mDIJoyCaps.dwAxes);
- //Reset the axis mapping enumeration value
- _AxisNumber = 0;
+ //Reset the axis mapping enumeration value
+ _AxisNumber = 0;
- // Enumerate and set axis constraints (and check FF Axes)
- mJoyStick->EnumObjects(DIEnumDeviceObjectsCallback, this, DIDFT_AXIS);
+ //Enumerate Force Feedback (if any)
+ mJoyStick->EnumEffects(DIEnumEffectsCallback, this, DIEFT_ALL);
+
+ //Enumerate and set axis constraints (and check FF Axes)
+ mJoyStick->EnumObjects(DIEnumDeviceObjectsCallback, this, DIDFT_AXIS);
+ }
}
//--------------------------------------------------------------------------------------------------//
@@ -190,19 +224,19 @@
//Check if FF Axes, and if so, increment counter
if((lpddoi->dwFlags & DIDOI_FFACTUATOR) != 0 )
{
- if( _this->ff_device )
+ if( _this->mFfDevice )
{
- _this->ff_device->_addFFAxis();
+ _this->mFfDevice->_addFFAxis();
}
}
//Force the flags for gain and auto-center support to true,
//as DInput has no API to query the device for these capabilities
//(the only way to know is to try them ...)
- if( _this->ff_device )
+ if( _this->mFfDevice )
{
- _this->ff_device->_setGainSupport(true);
- _this->ff_device->_setAutoCenterSupport(true);
+ _this->mFfDevice->_setGainSupport(true);
+ _this->mFfDevice->_setAutoCenterSupport(true);
}
return DIENUM_CONTINUE;
@@ -214,10 +248,10 @@
Win32JoyStick* _this = (Win32JoyStick*)pvRef;
//Create the FF instance only after we know there is at least one effect type
- if( _this->ff_device == 0 )
- _this->ff_device = new Win32ForceFeedback(_this->mJoyStick, &_this->mDIJoyCaps);
+ if( _this->mFfDevice == 0 )
+ _this->mFfDevice = new Win32ForceFeedback(_this->mJoyStick, &_this->mDIJoyCaps);
- _this->ff_device->_addEffectSupport( pdei );
+ _this->mFfDevice->_addEffectSupport(pdei);
return DIENUM_CONTINUE;
}
@@ -225,6 +259,16 @@
//--------------------------------------------------------------------------------------------------//
void Win32JoyStick::capture()
{
+#ifdef OIS_WIN32_XINPUT_SUPPORT
+ //handle xbox controller differently
+ if (mJoyInfo.isXInput)
+ {
+ captureXInput();
+ return;
+ }
+#endif
+
+ //handle directinput based devices
DIDEVICEOBJECTDATA diBuff[JOYSTICK_DX_BUFFERSIZE];
DWORD entries = JOYSTICK_DX_BUFFERSIZE;
@@ -240,7 +284,7 @@
hr = mJoyStick->Acquire();
// Poll the device to read the current state
- mJoyStick->Poll();
+ mJoyStick->Poll();
hr = mJoyStick->GetDeviceData( sizeof(DIDEVICEOBJECTDATA), diBuff, &entries, 0 );
//Perhaps the user just tabbed away
if( FAILED(hr) )
@@ -352,6 +396,118 @@
}
//--------------------------------------------------------------------------------------------------//
+void Win32JoyStick::captureXInput()
+{
+#ifdef OIS_WIN32_XINPUT_SUPPORT
+ XINPUT_STATE inputState;
+ if (XInputGetState((DWORD)mJoyInfo.xInputDev, &inputState) != ERROR_SUCCESS)
+ memset(&inputState, 0, sizeof(inputState));
+
+ //Sticks and triggers
+ int value;
+ bool axisMoved[XINPUT_TRANSLATED_AXIS_COUNT] = {false,false,false,false,false,false};
+
+ //LeftY
+ value = -(int)inputState.Gamepad.sThumbLY;
+ mState.mAxes[0].rel = value - mState.mAxes[0].abs;
+ mState.mAxes[0].abs = value;
+ if(mState.mAxes[0].rel != 0)
+ axisMoved[0] = true;
+
+ //LeftX
+ mState.mAxes[1].rel = inputState.Gamepad.sThumbLX - mState.mAxes[1].abs;
+ mState.mAxes[1].abs = inputState.Gamepad.sThumbLX;
+
+ if(mState.mAxes[1].rel != 0)
+ axisMoved[1] = true;
+
+ //RightY
+ value = -(int)inputState.Gamepad.sThumbRY;
+ mState.mAxes[2].rel = value - mState.mAxes[2].abs;
+ mState.mAxes[2].abs = value;
+ if(mState.mAxes[2].rel != 0)
+ axisMoved[2] = true;
+
+ //RightX
+ mState.mAxes[3].rel = inputState.Gamepad.sThumbRX - mState.mAxes[3].abs;
+ mState.mAxes[3].abs = inputState.Gamepad.sThumbRX;
+ if(mState.mAxes[3].rel != 0)
+ axisMoved[3] = true;
+
+ //Left trigger
+ value = inputState.Gamepad.bLeftTrigger * 129;
+ if(value > JoyStick::MAX_AXIS)
+ value = JoyStick::MAX_AXIS;
+
+ mState.mAxes[4].rel = value - mState.mAxes[4].abs;
+ mState.mAxes[4].abs = value;
+ if(mState.mAxes[4].rel != 0)
+ axisMoved[4] = true;
+
+ //Right trigger
+ value = (int)inputState.Gamepad.bRightTrigger * 129;
+ if(value > JoyStick::MAX_AXIS)
+ value = JoyStick::MAX_AXIS;
+
+ mState.mAxes[5].rel = value - mState.mAxes[5].abs;
+ mState.mAxes[5].abs = value;
+ if(mState.mAxes[5].rel != 0)
+ axisMoved[5] = true;
+
+ //POV
+ int previousPov = mState.mPOV[0].direction;
+ int& pov = mState.mPOV[0].direction;
+ pov = Pov::Centered;
+ if (inputState.Gamepad.wButtons & XINPUT_GAMEPAD_DPAD_UP)
+ pov |= Pov::North;
+ else if (inputState.Gamepad.wButtons & XINPUT_GAMEPAD_DPAD_DOWN)
+ pov |= Pov::South;
+ if (inputState.Gamepad.wButtons & XINPUT_GAMEPAD_DPAD_LEFT)
+ pov |= Pov::West;
+ else if (inputState.Gamepad.wButtons & XINPUT_GAMEPAD_DPAD_RIGHT)
+ pov |= Pov::East;
+
+ //Buttons - The first 4 buttons don't need to be checked since they represent the dpad
+ bool previousButtons[XINPUT_TRANSLATED_BUTTON_COUNT];
+ std::copy(mState.mButtons.begin(), mState.mButtons.end(), previousButtons);
+ for (size_t i = 0; i < XINPUT_TRANSLATED_BUTTON_COUNT; i++)
+ mState.mButtons[i] = (inputState.Gamepad.wButtons & (1 << (i + 4))) != 0;
+
+ //Send events
+ if (mBuffered && mListener)
+ {
+ JoyStickEvent joystickEvent(this, mState);
+
+ //Axes
+ for (int i = 0; i < XINPUT_TRANSLATED_AXIS_COUNT; i++)
+ {
+ if (axisMoved[i] && !mListener->axisMoved(joystickEvent, i))
+ return;
+ }
+
+ //POV
+ if (previousPov != pov && !mListener->povMoved(joystickEvent, 0))
+ return;
+
+ //Buttons
+ for (int i = 0; i < XINPUT_TRANSLATED_BUTTON_COUNT; i++)
+ {
+ if (!previousButtons[i] && mState.mButtons[i])
+ {
+ if (!mListener->buttonPressed(joystickEvent, i))
+ return;
+ }
+ else if (previousButtons[i] && !mState.mButtons[i])
+ {
+ if (!mListener->buttonReleased(joystickEvent, i))
+ return;
+ }
+ }
+ }
+#endif
+}
+
+//--------------------------------------------------------------------------------------------------//
bool Win32JoyStick::_doButtonClick( int button, DIDEVICEOBJECTDATA& di )
{
if( di.dwData & 0x80 )
@@ -409,11 +565,137 @@
//--------------------------------------------------------------------------------------------------//
Interface* Win32JoyStick::queryInterface(Interface::IType type)
{
- //Thought about using covariant return type here.. however,
- //some devices may allow LED light changing, or other interface stuff
-
- if( ff_device && type == Interface::ForceFeedback )
- return ff_device;
+ if( mFfDevice && type == Interface::ForceFeedback )
+ return mFfDevice;
else
return 0;
}
+
+//--------------------------------------------------------------------------------------------------//
+void Win32JoyStick::CheckXInputDevices(JoyStickInfoList &joys)
+{
+ IWbemLocator* pIWbemLocator = NULL;
+ IEnumWbemClassObject* pEnumDevices = NULL;
+ IWbemClassObject* pDevices[20] = {0};
+ IWbemServices* pIWbemServices = NULL;
+ BSTR bstrNamespace = NULL;
+ BSTR bstrDeviceID = NULL;
+ BSTR bstrClassName = NULL;
+ DWORD uReturned = 0;
+ bool bIsXinputDevice= false;
+ DWORD iDevice = 0;
+ int xDevice = 0;
+ VARIANT var;
+ HRESULT hr;
+
+ if(joys.size() == 0)
+ return;
+
+ // CoInit if needed
+ hr = CoInitialize(NULL);
+ bool bCleanupCOM = SUCCEEDED(hr);
+
+ // Create WMI
+ // (Orxonox): Fix for MinGW
+#ifdef __MINGW32__
+ hr = CoCreateInstance(CLSID_WbemLocator, NULL, CLSCTX_INPROC_SERVER, IID_IWbemLocator, (LPVOID*)&pIWbemLocator);
+#else
+ hr = CoCreateInstance(__uuidof(WbemLocator), NULL, CLSCTX_INPROC_SERVER, __uuidof(IWbemLocator), (LPVOID*)&pIWbemLocator);
+#endif
+ if( FAILED(hr) || pIWbemLocator == NULL )
+ goto LCleanup;
+
+ bstrNamespace = SysAllocString( L"\\\\.\\root\\cimv2" );
+ if( bstrNamespace == NULL )
+ goto LCleanup;
+
+ bstrClassName = SysAllocString( L"Win32_PNPEntity" );
+ if( bstrClassName == NULL )
+ goto LCleanup;
+
+ bstrDeviceID = SysAllocString( L"DeviceID" );
+ if( bstrDeviceID == NULL )
+ goto LCleanup;
+
+ // Connect to WMI
+ hr = pIWbemLocator->ConnectServer( bstrNamespace, NULL, NULL, 0L, 0L, NULL, NULL, &pIWbemServices );
+ if( FAILED(hr) || pIWbemServices == NULL )
+ goto LCleanup;
+
+ // Switch security level to IMPERSONATE.
+ CoSetProxyBlanket(pIWbemServices, RPC_C_AUTHN_WINNT, RPC_C_AUTHZ_NONE, NULL, RPC_C_AUTHN_LEVEL_CALL, RPC_C_IMP_LEVEL_IMPERSONATE, NULL, EOAC_NONE );
+
+ hr = pIWbemServices->CreateInstanceEnum( bstrClassName, 0, NULL, &pEnumDevices );
+ if( FAILED(hr) || pEnumDevices == NULL )
+ goto LCleanup;
+
+ // Loop over all devices
+ for( ;; )
+ {
+ // Get 20 at a time
+ hr = pEnumDevices->Next(5000, 20, pDevices, &uReturned);
+ if( FAILED(hr) )
+ goto LCleanup;
+
+ if( uReturned == 0 )
+ break;
+
+ for(iDevice = 0; iDevice < uReturned; iDevice++)
+ {
+ // For each device, get its device ID
+ hr = pDevices[iDevice]->Get(bstrDeviceID, 0L, &var, NULL, NULL);
+ if(SUCCEEDED(hr) && var.vt == VT_BSTR && var.bstrVal != NULL)
+ {
+ // Check if the device ID contains "IG_". If it does, then it's an XInput device - This information can not be found from DirectInput
+ if(wcsstr(var.bstrVal, L"IG_"))
+ {
+ // If it does, then get the VID/PID from var.bstrVal
+ DWORD dwPid = 0, dwVid = 0;
+ WCHAR* strVid = wcsstr( var.bstrVal, L"VID_" );
+ if(strVid && swscanf_s( strVid, L"VID_%4X", &dwVid ) != 1)
+ dwVid = 0;
+
+ WCHAR* strPid = wcsstr( var.bstrVal, L"PID_" );
+ if(strPid && swscanf_s( strPid, L"PID_%4X", &dwPid ) != 1)
+ dwPid = 0;
+
+ // Compare the VID/PID to the DInput device
+ DWORD dwVidPid = MAKELONG(dwVid, dwPid);
+ for(JoyStickInfoList::iterator i = joys.begin(); i != joys.end(); ++i)
+ {
+ if(dwVidPid == i->productGuid.Data1)
+ {
+ i->isXInput = true;
+ i->xInputDev = xDevice;
+ }
+ }
+
+ if(joys.size() == 0)
+ goto LCleanup;
+ }
+ }
+
+ SAFE_RELEASE(pDevices[iDevice]);
+ }
+ }
+
+LCleanup:
+ if(bstrNamespace)
+ SysFreeString(bstrNamespace);
+
+ if(bstrDeviceID)
+ SysFreeString(bstrDeviceID);
+
+ if(bstrClassName)
+ SysFreeString(bstrClassName);
+
+ for(iDevice=0; iDevice < 20; iDevice++)
+ SAFE_RELEASE(pDevices[iDevice]);
+
+ SAFE_RELEASE(pEnumDevices);
+ SAFE_RELEASE(pIWbemLocator);
+ SAFE_RELEASE(pIWbemServices);
+
+ if(bCleanupCOM)
+ CoUninitialize();
+}
Modified: code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.h
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32JoyStick.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -24,7 +24,7 @@
#define _WIN32_JOYSTICK_H_EADER_
#include "OISJoyStick.h"
-#include "Win32/Win32Prereqs.h"
+#include "win32/Win32Prereqs.h"
namespace OIS
{
@@ -40,12 +40,23 @@
/** @copydoc Object::capture */
virtual void capture();
+ //! hanlde xinput
+ void captureXInput();
+
/** @copydoc Object::queryInterface */
virtual Interface* queryInterface(Interface::IType type);
/** @copydoc Object::_initialize */
virtual void _initialize();
+ /**
+ @remarks
+ Enum each PNP device using WMI and check each device ID to see if it contains
+ "IG_" (ex. "VID_045E&PID_028E&IG_00"). If it does, then it's an XInput device
+ Unfortunately this information can not be found by just using DirectInput
+ */
+ static void CheckXInputDevices(JoyStickInfoList &joys);
+
protected:
//! Enumerates all things
void _enumerate();
@@ -60,12 +71,12 @@
IDirectInput8* mDirectInput;
IDirectInputDevice8* mJoyStick;
DIDEVCAPS mDIJoyCaps;
-
DWORD coopSetting;
- GUID deviceGuid;
+ JoyStickInfo mJoyInfo;
+
//! A force feedback device
- Win32ForceFeedback* ff_device;
+ Win32ForceFeedback* mFfDevice;
//! Mapping
int _AxisNumber;
Modified: code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,8 +20,8 @@
3. This notice may not be removed or altered from any source distribution.
*/
-#include "Win32/Win32InputManager.h"
-#include "Win32/Win32KeyBoard.h"
+#include "win32/Win32InputManager.h"
+#include "win32/Win32KeyBoard.h"
#include "OISException.h"
#include "OISEvents.h"
#include <sstream>
@@ -286,7 +286,7 @@
}
//--------------------------------------------------------------------------------------------------//
-const std::string& Win32Keyboard::getAsString( KeyCode kc )
+const std::string& Win32Keyboard::getAsString(KeyCode kc)
{
char temp[256];
@@ -296,16 +296,16 @@
prop.diph.dwObj = static_cast<DWORD>(kc);
prop.diph.dwHow = DIPH_BYOFFSET;
- if ( SUCCEEDED( mKeyboard->GetProperty( DIPROP_KEYNAME, &prop.diph ) ) )
+ if (SUCCEEDED(mKeyboard->GetProperty(DIPROP_KEYNAME, &prop.diph)))
{
// convert the WCHAR in "wsz" to multibyte
- if ( WideCharToMultiByte( CP_ACP, 0, prop.wsz, -1, temp, sizeof(temp), NULL, NULL) )
- return mGetString.assign( temp );
+ if (WideCharToMultiByte(CP_ACP, 0, prop.wsz, -1, temp, sizeof(temp), NULL, NULL))
+ return mGetString.assign(temp);
}
std::stringstream ss;
ss << "Key_" << (int)kc;
- return mGetString.assign( ss.str() );
+ return mGetString.assign(ss.str());
}
//--------------------------------------------------------------------------------------------------//
Modified: code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.h
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32KeyBoard.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -24,7 +24,7 @@
#define _WIN32_KEYBOARD_H_EADER_
#include "OISKeyboard.h"
-#include "Win32/Win32Prereqs.h"
+#include "win32/Win32Prereqs.h"
namespace OIS
{
@@ -41,17 +41,17 @@
@param coopSettings
A combination of DI Flags (see DX Help for info on input device settings)
*/
- Win32Keyboard( InputManager* creator, IDirectInput8* pDI, bool buffered, DWORD coopSettings );
+ Win32Keyboard(InputManager* creator, IDirectInput8* pDI, bool buffered, DWORD coopSettings);
virtual ~Win32Keyboard();
/** @copydoc Keyboard::isKeyDown */
- virtual bool isKeyDown( KeyCode key ) const;
+ virtual bool isKeyDown(KeyCode key) const;
/** @copydoc Keyboard::getAsString */
- virtual const std::string& getAsString( KeyCode kc );
+ virtual const std::string& getAsString(KeyCode kc);
/** @copydoc Keyboard::copyKeyStates */
- virtual void copyKeyStates( char keys[256] ) const;
+ virtual void copyKeyStates(char keys[256]) const;
/** @copydoc Object::setBuffered */
virtual void setBuffered(bool buffered);
Modified: code/branches/kicklib2/src/external/ois/win32/Win32Mouse.cpp
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32Mouse.cpp 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32Mouse.cpp 2011-04-21 16:58:23 UTC (rev 8284)
@@ -20,8 +20,8 @@
3. This notice may not be removed or altered from any source distribution.
*/
-#include "Win32/Win32Mouse.h"
-#include "Win32/Win32InputManager.h"
+#include "win32/Win32Mouse.h"
+#include "win32/Win32InputManager.h"
#include "OISException.h"
#include "OISEvents.h"
Modified: code/branches/kicklib2/src/external/ois/win32/Win32Mouse.h
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32Mouse.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32Mouse.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -24,7 +24,7 @@
#define _WIN32_MOUSE_H_EADER_
#include "OISMouse.h"
-#include "Win32/Win32Prereqs.h"
+#include "win32/Win32Prereqs.h"
namespace OIS
{
Modified: code/branches/kicklib2/src/external/ois/win32/Win32Prereqs.h
===================================================================
--- code/branches/kicklib2/src/external/ois/win32/Win32Prereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/external/ois/win32/Win32Prereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -28,10 +28,14 @@
#include <windows.h>
#include <dinput.h>
+#ifdef OIS_WIN32_XINPUT_SUPPORT
+# include <XInput.h>
+#endif
+
//Max number of elements to collect from buffered DirectInput
#define KEYBOARD_DX_BUFFERSIZE 17
-#define MOUSE_DX_BUFFERSIZE 64
-#define JOYSTICK_DX_BUFFERSIZE 124
+#define MOUSE_DX_BUFFERSIZE 128
+#define JOYSTICK_DX_BUFFERSIZE 129
//MinGW defines
#if defined(OIS_MINGW_COMPILER)
@@ -54,10 +58,13 @@
public:
int devId;
GUID deviceID;
+ GUID productGuid;
std::string vendor;
+ bool isXInput;
+ int xInputDev;
};
- typedef std::vector< JoyStickInfo > JoyStickInfoList;
+ typedef std::vector<JoyStickInfo> JoyStickInfoList;
}
#endif //_WIN32_INPUTSYSTEM_PREREQS_H
Modified: code/branches/kicklib2/src/libraries/core/Core.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/Core.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/Core.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -80,7 +80,9 @@
Core* Core::singletonPtr_s = 0;
SetCommandLineArgument(settingsFile, "orxonox.ini").information("THE configuration file");
+#ifndef ORXONOX_PLATFORM_APPLE
SetCommandLineSwitch(noIOConsole).information("Use this if you don't want to use the IOConsole (for instance for Lua debugging)");
+#endif
#ifdef ORXONOX_PLATFORM_WINDOWS
SetCommandLineArgument(limitToCPU, 1).information("Limits the program to one CPU/core (1, 2, 3, etc.). Default is the first core (faster than off)");
@@ -155,13 +157,15 @@
ClassIdentifier<Core>::getIdentifier("Core")->initialiseObject(this, "Core", true);
this->setConfigValues();
- // create persistent io console
+#ifndef ORXONOX_PLATFORM_APPLE
+ // Create persistent IO console
if (CommandLineParser::getValue("noIOConsole").getBool())
{
ModifyConfigValue(bStartIOConsole_, tset, false);
}
if (this->bStartIOConsole_)
this->ioConsole_.reset(new IOConsole());
+#endif
// creates the class hierarchy for all classes with factories
Identifier::createClassHierarchy();
Modified: code/branches/kicklib2/src/libraries/core/CorePrereqs.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/CorePrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/CorePrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -53,10 +53,13 @@
# define _CoreExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _CorePrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _CoreExport __attribute__ ((visibility("default")))
+# define _CorePrivate __attribute__ ((visibility("hidden")))
#else
# define _CoreExport
+# define _CorePrivate
#endif
//-----------------------------------------------------------------------
@@ -258,14 +261,14 @@
// Boost
namespace boost
{
-#if (BOOST_VERSION < 104400)
+#if BOOST_VERSION < 104400
namespace filesystem
{
struct path_traits;
template <class String, class Traits> class basic_path;
typedef basic_path<std::string, path_traits> path;
}
-#else
+#elif BOOST_VERSION < 104600
namespace filesystem2
{
struct path_traits;
@@ -278,6 +281,15 @@
using filesystem2::path_traits;
using filesystem2::path;
}
+#else
+ namespace filesystem3
+ {
+ class path;
+ }
+ namespace filesystem
+ {
+ using filesystem3::path;
+ }
#endif
class thread;
class mutex;
Modified: code/branches/kicklib2/src/libraries/core/DynLib.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/DynLib.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/DynLib.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -41,12 +41,12 @@
# include <windows.h>
#endif
-#ifdef ORXONOX_PLATFORM_LINUX
+#ifdef ORXONOX_PLATFORM_UNIX
# include <dlfcn.h>
#endif
#ifdef ORXONOX_PLATFORM_APPLE
-# include <macPlugins.h>
+# include <OSX/macUtils.h> // OGRE include
#endif
namespace orxonox
@@ -74,6 +74,15 @@
// dlopen() does not add .so to the filename, like windows does for .dll
if (name.substr(name.length() - 3, 3) != ".so")
name += ".so";
+#elif OGRE_PLATFORM == OGRE_PLATFORM_APPLE
+ // dlopen() does not add .dylib to the filename, like windows does for .dll
+ if (name.substr(name.length() - 6, 6) != ".dylib")
+ name += ".dylib";
+#elif OGRE_PLATFORM == OGRE_PLATFORM_WIN32
+ // Although LoadLibraryEx will add .dll itself when you only specify the library name,
+ // if you include a relative path then it does not. So, add it to be sure.
+ if (name.substr(name.length() - 4, 4) != ".dll")
+ name += ".dll";
#endif
m_hInst = (DYNLIB_HANDLE)DYNLIB_LOAD( name.c_str() );
@@ -126,13 +135,10 @@
// Free the buffer.
LocalFree( lpMsgBuf );
return ret;
-#elif defined(ORXONOX_PLATFORM_LINUX)
+#elif defined(ORXONOX_PLATFORM_UNIX)
return std::string(dlerror());
-#elif defined(ORXONOX_PLATFORM_APPLE)
- return std::string(mac_errorBundle());
#else
return "";
#endif
}
-
}
Modified: code/branches/kicklib2/src/libraries/core/DynLib.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/DynLib.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/DynLib.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -51,17 +51,11 @@
struct HINSTANCE__;
typedef struct HINSTANCE__* hInstance;
-#elif defined(ORXONOX_PLATFORM_LINUX)
+#elif defined(ORXONOX_PLATFORM_UNIX)
# define DYNLIB_HANDLE void*
# define DYNLIB_LOAD( a ) dlopen( a, RTLD_LAZY | RTLD_GLOBAL)
# define DYNLIB_GETSYM( a, b ) dlsym( a, b )
# define DYNLIB_UNLOAD( a ) dlclose( a )
-
-#elif defined(ORXONOX_PLATFORM_APPLE)
-# define DYNLIB_HANDLE CFBundleRef
-# define DYNLIB_LOAD( a ) mac_loadExeBundle( a )
-# define DYNLIB_GETSYM( a, b ) mac_getBundleSym( a, b )
-# define DYNLIB_UNLOAD( a ) mac_unloadExeBundle( a )
#endif
namespace orxonox
Modified: code/branches/kicklib2/src/libraries/core/GUIManager.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/GUIManager.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/GUIManager.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -148,13 +148,13 @@
GUIManager::GUIManager(const std::pair<int, int>& mousePosition)
: destroyer_(*this, &GUIManager::cleanup)
, guiRenderer_(NULL)
- , luaState_(NULL)
- , scriptModule_(NULL)
- , guiSystem_(NULL)
, resourceProvider_(NULL)
#ifndef ORXONOX_OLD_CEGUI
, imageCodec_(NULL)
#endif
+ , luaState_(NULL)
+ , scriptModule_(NULL)
+ , guiSystem_(NULL)
, camera_(NULL)
{
RegisterRootObject(GUIManager);
@@ -392,12 +392,18 @@
----------------------------------------------------
false | False | True | Dontcare
*/
+
+#ifdef ORXONOX_PLATFORM_APPLE
+ // There is no non exclusive mode on OS X yet
+ state->setMouseExclusive(TriBool::True);
+#else
if (showCursor == TriBool::Dontcare)
state->setMouseExclusive(TriBool::Dontcare);
else if (GraphicsManager::getInstance().isFullScreen() || showCursor == TriBool::False)
state->setMouseExclusive(TriBool::True);
else
state->setMouseExclusive(TriBool::False);
+#endif
if (showCursor == TriBool::True)
state->setMouseHandler(this);
Modified: code/branches/kicklib2/src/libraries/core/Game.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/Game.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/Game.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -458,7 +458,7 @@
if (stateStrings.empty())
ThrowException(GameState, "Emtpy GameState hierarchy provided, terminating.");
// Add element with large identation to detect the last with just an iterator
- stateStrings.push_back(std::make_pair("", -1));
+ stateStrings.push_back(std::make_pair(std::string(), -1));
// Parse elements recursively
std::vector<std::pair<std::string, int> >::const_iterator begin = stateStrings.begin();
Modified: code/branches/kicklib2/src/libraries/core/GraphicsManager.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/GraphicsManager.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/GraphicsManager.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -259,7 +259,11 @@
SubString plugins(ogrePlugins_, ",", " ", false, '\\', false, '"', false, '{', '}', false, '\0');
// Use backslash paths on Windows! file_string() already does that though.
for (unsigned int i = 0; i < plugins.size(); ++i)
+#if BOOST_FILESYSTEM_VERSION < 3
ogreRoot_->loadPlugin((folder / plugins[i]).file_string());
+#else
+ ogreRoot_->loadPlugin((folder / plugins[i]).string());
+#endif
}
void GraphicsManager::loadRenderer()
@@ -286,6 +290,15 @@
Ogre::WindowEventUtilities::addWindowEventListener(this->renderWindow_, ogreWindowEventListener_.get());
+// HACK
+#ifdef ORXONOX_PLATFORM_APPLE
+ //INFO: This will give our window focus, and not lock it to the terminal
+ ProcessSerialNumber psn = {0, kCurrentProcess};
+ TransformProcessType(&psn, kProcessTransformToForegroundApplication);
+ SetFrontProcess(&psn);
+#endif
+// End of HACK
+
// create a full screen default viewport
// Note: This may throw when adding a viewport with an existing z-order!
// But in our case we only have one viewport for now anyway, therefore
Modified: code/branches/kicklib2/src/libraries/core/Identifier.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/Identifier.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/Identifier.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -122,7 +122,7 @@
void setNetworkID(uint32_t id);
/// Returns the unique ID of the class.
- FORCEINLINE unsigned int getClassID() const { return this->classID_; }
+ ORX_FORCEINLINE unsigned int getClassID() const { return this->classID_; }
/// Returns the list of all existing objects of this class.
inline ObjectListBase* getObjects() const { return this->objects_; }
@@ -485,7 +485,7 @@
Also note that the function is implemented differently for GCC/MSVC.
*/
template <class T, class U>
- FORCEINLINE T orxonox_cast(U* source)
+ ORX_FORCEINLINE T orxonox_cast(U* source)
{
#ifdef ORXONOX_COMPILER_MSVC
typedef Loki::TypeTraits<typename Loki::TypeTraits<T>::PointeeType>::NonConstType ClassType;
Modified: code/branches/kicklib2/src/libraries/core/OrxonoxClass.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/OrxonoxClass.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/OrxonoxClass.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -134,7 +134,7 @@
@return
Returns NULL if the no pointer was found.
*/
- FORCEINLINE void* getDerivedPointer(unsigned int classID)
+ ORX_FORCEINLINE void* getDerivedPointer(unsigned int classID)
{
for (int i = this->objectPointers_.size() - 1; i >= 0; --i)
{
@@ -145,10 +145,10 @@
}
/// Version of getDerivedPointer with template
- template <class T> FORCEINLINE T* getDerivedPointer(unsigned int classID)
+ template <class T> ORX_FORCEINLINE T* getDerivedPointer(unsigned int classID)
{ return static_cast<T*>(this->getDerivedPointer(classID)); }
/// Const version of getDerivedPointer with template
- template <class T> FORCEINLINE const T* getDerivedPointer(unsigned int classID) const
+ template <class T> ORX_FORCEINLINE const T* getDerivedPointer(unsigned int classID) const
{ return const_cast<OrxonoxClass*>(this)->getDerivedPointer<T>(classID); }
protected:
Modified: code/branches/kicklib2/src/libraries/core/PathConfig.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/PathConfig.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/PathConfig.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -58,8 +58,10 @@
// Boost 1.36 has some issues with deprecated functions that have been omitted
#if (BOOST_VERSION == 103600)
# define BOOST_LEAF_FUNCTION filename
+#elif (BOOST_FILESYSTEM_VERSION < 3)
+# define BOOST_LEAF_FUNCTION leaf
#else
-# define BOOST_LEAF_FUNCTION leaf
+# define BOOST_LEAF_FUNCTION path().filename().string
#endif
namespace orxonox
@@ -94,7 +96,7 @@
#elif defined(ORXONOX_PLATFORM_APPLE)
char buffer[1024];
- unsigned long path_len = 1023;
+ uint32_t path_len = 1023;
if (_NSGetExecutablePath(buffer, &path_len))
ThrowException(General, "Could not retrieve executable path.");
@@ -124,10 +126,8 @@
buffer[ret] = 0;
#endif
- executablePath_ = bf::path(buffer);
-#ifndef ORXONOX_PLATFORM_APPLE
- executablePath_ = executablePath_.branch_path(); // remove executable name
-#endif
+ // Remove executable filename
+ executablePath_ = bf::path(buffer).branch_path();
/////////////////////
// SET MODULE PATH //
@@ -205,11 +205,11 @@
dataPath_ = specialConfig::dataInstallDirectory;
// Get user directory
-# ifdef ORXONOX_PLATFORM_UNIX /* Apple? */
+#ifdef ORXONOX_PLATFORM_UNIX
char* userDataPathPtr(getenv("HOME"));
-# else
+#else
char* userDataPathPtr(getenv("APPDATA"));
-# endif
+#endif
if (userDataPathPtr == NULL)
ThrowException(General, "Could not retrieve user data path.");
bf::path userDataPath(userDataPathPtr);
@@ -232,8 +232,8 @@
// Create directories to avoid problems when opening files in non existent folders.
std::vector<std::pair<bf::path, std::string> > directories;
- directories.push_back(std::make_pair(bf::path(configPath_), "config"));
- directories.push_back(std::make_pair(bf::path(logPath_), "log"));
+ directories.push_back(std::make_pair(bf::path(configPath_), std::string("config")));
+ directories.push_back(std::make_pair(bf::path(logPath_), std::string("log")));
for (std::vector<std::pair<bf::path, std::string> >::iterator it = directories.begin();
it != directories.end(); ++it)
@@ -272,16 +272,20 @@
// Iterate through all files
while (file != end)
{
- const std::string& filename = file->BOOST_LEAF_FUNCTION();
+ std::string filename = file->BOOST_LEAF_FUNCTION();
- // Check if the file ends with the exension in question
+ // Check if the file ends with the extension in question
if (filename.size() > moduleextensionlength)
{
if (filename.substr(filename.size() - moduleextensionlength) == moduleextension)
{
// We've found a helper file
const std::string& library = filename.substr(0, filename.size() - moduleextensionlength);
+#if BOOST_FILESYSTEM_VERSION < 3
modulePaths.push_back((modulePath_ / library).file_string());
+#else
+ modulePaths.push_back((modulePath_ / library).string());
+#endif
}
}
++file;
Modified: code/branches/kicklib2/src/libraries/core/Resource.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/Resource.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/Resource.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -35,12 +35,15 @@
namespace orxonox
{
- std::string Resource::DEFAULT_GROUP(Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ const std::string& Resource::getDefaultResourceGroup()
+ {
+ return Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME;
+ }
DataStreamPtr Resource::open(const std::string& name)
{
return Ogre::ResourceGroupManager::getSingleton().openResource(name,
- Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
+ getDefaultResourceGroup(), true);
}
DataStreamListPtr Resource::openMulti(const std::string& pattern)
Modified: code/branches/kicklib2/src/libraries/core/Resource.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/Resource.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/Resource.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -136,7 +136,7 @@
static StringVectorPtr findResourceNames(const std::string& pattern);
//! Name of the default resource group (usually "General")
- static std::string DEFAULT_GROUP;
+ static const std::string& getDefaultResourceGroup();
private:
Resource();
Modified: code/branches/kicklib2/src/libraries/core/Super.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/Super.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/Super.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -93,10 +93,10 @@
template <class T, int templatehack2> \
struct SuperFunctionCondition<functionnumber, T, 0, templatehack2> \
{ \
- static void check() \
+ static void superCheck() \
{ \
SuperFunctionCondition<functionnumber, T, 0, templatehack2>::apply(static_cast<T*>(0)); \
- SuperFunctionCondition<functionnumber + 1, T, 0, templatehack2>::check(); \
+ SuperFunctionCondition<functionnumber + 1, T, 0, templatehack2>::superCheck(); \
} \
\
static void apply(void* temp) {} \
@@ -131,9 +131,9 @@
template <int templatehack2> \
struct SuperFunctionCondition<functionnumber, baseclass, 0, templatehack2> \
{ \
- static void check() \
+ static void superCheck() \
{ \
- SuperFunctionCondition<functionnumber + 1, baseclass, 0, templatehack2>::check(); \
+ SuperFunctionCondition<functionnumber + 1, baseclass, 0, templatehack2>::superCheck(); \
} \
};
@@ -149,14 +149,14 @@
template <class T, templatehack2>
struct SuperFunctionCondition<functionnumber, T, 0, templatehack2>
{
- static void check()
+ static void superCheck()
{
// This call to the apply-function is the whole check. By calling the function with
// a T* pointer, the right function get's called.
SuperFunctionCondition<functionnumber, T, 0, templatehack2>::apply(static_cast<T*>(0));
- // Go go the check for of next super-function (functionnumber + 1)
- SuperFunctionCondition<functionnumber + 1, T, 0, templatehack2>::check();
+ // Go go the superCheck for of next super-function (functionnumber + 1)
+ SuperFunctionCondition<functionnumber + 1, T, 0, templatehack2>::superCheck();
}
// This function gets called if T is not a child of the baseclass.
@@ -201,10 +201,10 @@
template <int templatehack2> \
struct SuperFunctionCondition<functionnumber, baseclass, 0, templatehack2> \
{ \
- // The check function acts like the fallback - it advances to the check for the next super-function (functionnumber + 1)
- static void check() \
+ // The superCheck function acts like the fallback - it advances to the check for the next super-function (functionnumber + 1)
+ static void superCheck() \
{ \
- SuperFunctionCondition<functionnumber + 1, baseclass, 0, templatehack2>::check(); \
+ SuperFunctionCondition<functionnumber + 1, baseclass, 0, templatehack2>::superCheck(); \
} \
};
*/
@@ -302,7 +302,7 @@
template <int functionnumber, class T, int templatehack1, int templatehack2>
struct SuperFunctionCondition
{
- static void check() {}
+ static void superCheck() {}
};
/**
@@ -337,9 +337,9 @@
template <class T, int templatehack1, int templatehack2> \
struct SuperFunctionCondition<functionnumber, T, templatehack1, templatehack2> \
{ \
- static void check() \
+ static void superCheck() \
{ \
- SuperFunctionCondition<functionnumber + 1, T, templatehack1, templatehack2>::check(); \
+ SuperFunctionCondition<functionnumber + 1, T, templatehack1, templatehack2>::superCheck(); \
} \
}; \
\
@@ -420,10 +420,10 @@
{
// If this function gets called, the header-file of the super function is not
// included, so this fallback template (templatehack not specialized) is used
- static void check()
+ static void superCheck()
{
// Calls the condition-check of the next super-function (functionnumber + 1)
- SuperFunctionCondition<functionnumber + 1, T, templatehack1, templatehack2>::check();
+ SuperFunctionCondition<functionnumber + 1, T, templatehack1, templatehack2>::superCheck();
}
};
@@ -573,7 +573,7 @@
// This get's called within the initialization of an Identifier
virtual void createSuperFunctionCaller() const
{
- SuperFunctionCondition<0, T, 0, 0>::check();
+ SuperFunctionCondition<0, T, 0, 0>::superCheck();
}
Modified: code/branches/kicklib2/src/libraries/core/command/ArgumentCompletionFunctions.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/command/ArgumentCompletionFunctions.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/command/ArgumentCompletionFunctions.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -49,8 +49,13 @@
// Boost 1.36 has some issues with deprecated functions that have been omitted
#if (BOOST_VERSION == 103600)
# define BOOST_LEAF_FUNCTION filename
+# define BOOST_DICTIONARY_ENTRY_NAME string
+#elif (BOOST_FILESYSTEM_VERSION < 3)
+# define BOOST_LEAF_FUNCTION leaf
+# define BOOST_DICTIONARY_ENTRY_NAME string
#else
-# define BOOST_LEAF_FUNCTION leaf
+# define BOOST_LEAF_FUNCTION path().filename().string
+# define BOOST_DICTIONARY_ENTRY_NAME path().string
#endif
namespace orxonox
@@ -256,9 +261,9 @@
while (file != end)
{
if (boost::filesystem::is_directory(*file))
- dirlist.push_back(ArgumentCompletionListElement(file->string() + '/', getLowercase(file->string()) + '/', file->BOOST_LEAF_FUNCTION() + '/'));
+ dirlist.push_back(ArgumentCompletionListElement(file->BOOST_DICTIONARY_ENTRY_NAME() + '/', getLowercase(file->BOOST_DICTIONARY_ENTRY_NAME()) + '/', file->BOOST_LEAF_FUNCTION() + '/'));
else
- filelist.push_back(ArgumentCompletionListElement(file->string(), getLowercase(file->string()), file->BOOST_LEAF_FUNCTION()));
+ filelist.push_back(ArgumentCompletionListElement(file->BOOST_DICTIONARY_ENTRY_NAME(), getLowercase(file->BOOST_DICTIONARY_ENTRY_NAME()), file->BOOST_LEAF_FUNCTION()));
++file;
}
}
Modified: code/branches/kicklib2/src/libraries/core/input/InputDevice.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/input/InputDevice.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/input/InputDevice.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -183,7 +183,7 @@
protected:
//! Common code for all button pressed events (updates pressed buttons list and calls the input states)
- FORCEINLINE void buttonPressed(ButtonTypeParam button)
+ ORX_FORCEINLINE void buttonPressed(ButtonTypeParam button)
{
// check whether the button already is in the list (can happen when focus was lost)
unsigned int iButton = 0;
@@ -200,7 +200,7 @@
}
//! Common code for all button released events (updates pressed buttons list and calls the input states)
- FORCEINLINE void buttonReleased(ButtonTypeParam button)
+ ORX_FORCEINLINE void buttonReleased(ButtonTypeParam button)
{
// remove the button from the pressedButtons_ list
bool found = false;
Modified: code/branches/kicklib2/src/libraries/core/input/InputManager.cc
===================================================================
--- code/branches/kicklib2/src/libraries/core/input/InputManager.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/input/InputManager.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -150,41 +150,43 @@
assert(devices_[InputDeviceEnumerator::Keyboard] == 0);
assert(devices_.size() == InputDeviceEnumerator::FirstJoyStick);
+ typedef std::pair<std::string, std::string> StringPair;
+
// Fill parameter list
OIS::ParamList paramList;
size_t windowHnd = GraphicsManager::getInstance().getRenderWindowHandle();
- paramList.insert(std::make_pair("WINDOW", multi_cast<std::string>(windowHnd)));
+ paramList.insert(StringPair("WINDOW", multi_cast<std::string>(windowHnd)));
#if defined(ORXONOX_PLATFORM_WINDOWS)
- paramList.insert(std::make_pair("w32_keyboard", "DISCL_NONEXCLUSIVE"));
- paramList.insert(std::make_pair("w32_keyboard", "DISCL_FOREGROUND"));
- paramList.insert(std::make_pair("w32_mouse", "DISCL_FOREGROUND"));
+ paramList.insert(StringPair("w32_keyboard", "DISCL_NONEXCLUSIVE"));
+ paramList.insert(StringPair("w32_keyboard", "DISCL_FOREGROUND"));
+ paramList.insert(StringPair("w32_mouse", "DISCL_FOREGROUND"));
if (exclusiveMouse_ == TriBool::True || GraphicsManager::getInstance().isFullScreen())
{
// Disable Windows key plus special keys (like play, stop, next, etc.)
- paramList.insert(std::make_pair("w32_keyboard", "DISCL_NOWINKEY"));
- paramList.insert(std::make_pair("w32_mouse", "DISCL_EXCLUSIVE"));
+ paramList.insert(StringPair("w32_keyboard", "DISCL_NOWINKEY"));
+ paramList.insert(StringPair("w32_mouse", "DISCL_EXCLUSIVE"));
}
else
- paramList.insert(std::make_pair("w32_mouse", "DISCL_NONEXCLUSIVE"));
+ paramList.insert(StringPair("w32_mouse", "DISCL_NONEXCLUSIVE"));
#elif defined(ORXONOX_PLATFORM_LINUX)
// Enabling this is probably a bad idea, but whenever orxonox crashes, the setting stays on
// Trouble might be that the Pressed event occurs a bit too often...
- paramList.insert(std::make_pair("XAutoRepeatOn", "true"));
+ paramList.insert(StringPair("XAutoRepeatOn", "true"));
if (exclusiveMouse_ == TriBool::True || GraphicsManager::getInstance().isFullScreen())
{
if (CommandLineParser::getValue("keyboard_no_grab").getBool())
- paramList.insert(std::make_pair("x11_keyboard_grab", "false"));
+ paramList.insert(StringPair("x11_keyboard_grab", "false"));
else
- paramList.insert(std::make_pair("x11_keyboard_grab", "true"));
- paramList.insert(std::make_pair("x11_mouse_grab", "true"));
- paramList.insert(std::make_pair("x11_mouse_hide", "true"));
+ paramList.insert(StringPair("x11_keyboard_grab", "true"));
+ paramList.insert(StringPair("x11_mouse_grab", "true"));
+ paramList.insert(StringPair("x11_mouse_hide", "true"));
}
else
{
- paramList.insert(std::make_pair("x11_keyboard_grab", "false"));
- paramList.insert(std::make_pair("x11_mouse_grab", "false"));
- paramList.insert(std::make_pair("x11_mouse_hide", "false"));
+ paramList.insert(StringPair("x11_keyboard_grab", "false"));
+ paramList.insert(StringPair("x11_mouse_grab", "false"));
+ paramList.insert(StringPair("x11_mouse_hide", "false"));
}
#endif
Modified: code/branches/kicklib2/src/libraries/core/input/InputState.h
===================================================================
--- code/branches/kicklib2/src/libraries/core/input/InputState.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/core/input/InputState.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -175,14 +175,14 @@
FunctorPtr leaveFunctor_; //!< Functor to be executed on leave
};
- FORCEINLINE void InputState::update(float dt)
+ ORX_FORCEINLINE void InputState::update(float dt)
{
for (unsigned int i = 0; i < handlers_.size(); ++i)
if (handlers_[i] != NULL)
INPUT_STATE_PUSH_CALL(i, allDevicesUpdated, dt);
}
- FORCEINLINE void InputState::update(float dt, unsigned int device)
+ ORX_FORCEINLINE void InputState::update(float dt, unsigned int device)
{
switch (device)
{
@@ -204,7 +204,7 @@
}
template <typename EventType, class ButtonTypeParam>
- FORCEINLINE void InputState::buttonEvent(unsigned int device, ButtonTypeParam button)
+ ORX_FORCEINLINE void InputState::buttonEvent(unsigned int device, ButtonTypeParam button)
{
assert(device < handlers_.size());
if (handlers_[device] != NULL)
@@ -215,19 +215,19 @@
}
}
- FORCEINLINE void InputState::mouseMoved(IntVector2 abs, IntVector2 rel, IntVector2 clippingSize)
+ ORX_FORCEINLINE void InputState::mouseMoved(IntVector2 abs, IntVector2 rel, IntVector2 clippingSize)
{
if (handlers_[mouseIndex_s] != NULL)
INPUT_STATE_PUSH_CALL(mouseIndex_s, mouseMoved, abs, rel, clippingSize);
}
- FORCEINLINE void InputState::mouseScrolled(int abs, int rel)
+ ORX_FORCEINLINE void InputState::mouseScrolled(int abs, int rel)
{
if (handlers_[mouseIndex_s] != NULL)
INPUT_STATE_PUSH_CALL(mouseIndex_s, mouseScrolled, abs, rel);
}
- FORCEINLINE void InputState::joyStickAxisMoved(unsigned int device, unsigned int axis, float value)
+ ORX_FORCEINLINE void InputState::joyStickAxisMoved(unsigned int device, unsigned int axis, float value)
{
assert(device < handlers_.size());
if (handlers_[device] != NULL)
Modified: code/branches/kicklib2/src/libraries/network/LANDiscoverable.cc
===================================================================
--- code/branches/kicklib2/src/libraries/network/LANDiscoverable.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/network/LANDiscoverable.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -28,13 +28,13 @@
#include "LANDiscoverable.h"
-#include "NetworkPrereqs.h"
-#include "packet/ServerInformation.h"
-
#include <enet/enet.h>
#include <cassert>
#include <cstring>
+#include "util/Debug.h"
+#include "packet/ServerInformation.h"
+
namespace orxonox
{
const char* LAN_DISCOVERY_MESSAGE = "Orxonox Client";
Modified: code/branches/kicklib2/src/libraries/network/MasterServerComm.cc
===================================================================
--- code/branches/kicklib2/src/libraries/network/MasterServerComm.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/network/MasterServerComm.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -27,6 +27,7 @@
*/
#include "MasterServerComm.h"
+#include "util/Debug.h"
namespace orxonox
{
Modified: code/branches/kicklib2/src/libraries/network/NetworkPrereqs.h
===================================================================
--- code/branches/kicklib2/src/libraries/network/NetworkPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/network/NetworkPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -51,10 +51,13 @@
# define _NetworkExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _NetworkPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _NetworkExport __attribute__ ((visibility("default")))
+# define _NetworkPrivate __attribute__ ((visibility("hidden")))
#else
# define _NetworkExport
+# define _NetworkPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/libraries/tools/BulletConversions.h
===================================================================
--- code/branches/kicklib2/src/libraries/tools/BulletConversions.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/tools/BulletConversions.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -42,7 +42,7 @@
template <>
struct ConverterExplicit<orxonox::Vector3, btVector3>
{
- FORCEINLINE static bool convert(btVector3* output, const orxonox::Vector3& input)
+ ORX_FORCEINLINE static bool convert(btVector3* output, const orxonox::Vector3& input)
{
output->setX(input.x);
output->setY(input.y);
@@ -55,7 +55,7 @@
template <>
struct ConverterExplicit<btVector3, orxonox::Vector3>
{
- FORCEINLINE static bool convert(orxonox::Vector3* output, const btVector3& input)
+ ORX_FORCEINLINE static bool convert(orxonox::Vector3* output, const btVector3& input)
{
output->x = input.x();
output->y = input.y();
@@ -68,7 +68,7 @@
template <>
struct ConverterExplicit<orxonox::Quaternion, btQuaternion>
{
- FORCEINLINE static bool convert(btQuaternion* output, const orxonox::Quaternion& input)
+ ORX_FORCEINLINE static bool convert(btQuaternion* output, const orxonox::Quaternion& input)
{
output->setW(input.w);
output->setX(input.x);
@@ -82,7 +82,7 @@
template <>
struct ConverterExplicit<btQuaternion, orxonox::Quaternion>
{
- FORCEINLINE static bool convert(orxonox::Quaternion* output, const btQuaternion& input)
+ ORX_FORCEINLINE static bool convert(orxonox::Quaternion* output, const btQuaternion& input)
{
output->w = input.w();
output->x = input.x();
Modified: code/branches/kicklib2/src/libraries/tools/ResourceCollection.cc
===================================================================
--- code/branches/kicklib2/src/libraries/tools/ResourceCollection.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/tools/ResourceCollection.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -44,7 +44,7 @@
RegisterObject(ResourceCollection);
// Default group is "General"
- this->setResourceGroup(Resource::DEFAULT_GROUP);
+ this->setResourceGroup(Resource::getDefaultResourceGroup());
}
ResourceCollection::~ResourceCollection()
Modified: code/branches/kicklib2/src/libraries/tools/ToolsPrereqs.h
===================================================================
--- code/branches/kicklib2/src/libraries/tools/ToolsPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/tools/ToolsPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -51,10 +51,13 @@
# define _ToolsExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _ToolsPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _ToolsExport __attribute__ ((visibility("default")))
+# define _ToolsPrivate __attribute__ ((visibility("hidden")))
#else
# define _ToolsExport
+# define _ToolsPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/libraries/util/Convert.h
===================================================================
--- code/branches/kicklib2/src/libraries/util/Convert.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/util/Convert.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -142,7 +142,7 @@
template <class FromType, class ToType>
struct ConverterFallback
{
- FORCEINLINE static bool convert(ToType* output, const FromType& input)
+ ORX_FORCEINLINE static bool convert(ToType* output, const FromType& input)
{
COUT(2) << "Could not convert value of type " << typeid(FromType).name()
<< " to type " << typeid(ToType).name() << std::endl;
@@ -154,7 +154,7 @@
template <class FromType, class ToType>
struct ConverterFallback<FromType*, ToType*>
{
- FORCEINLINE static bool convert(ToType** output, FromType* const input)
+ ORX_FORCEINLINE static bool convert(ToType** output, FromType* const input)
{
ToType* temp = dynamic_cast<ToType*>(input);
if (temp)
@@ -181,7 +181,7 @@
template <class FromType, class ToType>
struct ConverterStringStream
{
- FORCEINLINE static bool convert(ToType* output, const FromType& input)
+ ORX_FORCEINLINE static bool convert(ToType* output, const FromType& input)
{
return orxonox::ConverterFallback<FromType, ToType>::convert(output, input);
}
@@ -197,7 +197,7 @@
{
/// Fallback operator <<() (delegates to orxonox::ConverterFallback)
template <class FromType>
- FORCEINLINE bool operator <<(std::ostream& outstream, const FromType& input)
+ ORX_FORCEINLINE bool operator <<(std::ostream& outstream, const FromType& input)
{
std::string temp;
if (orxonox::ConverterFallback<FromType, std::string>::convert(&temp, input))
@@ -214,7 +214,7 @@
template <class FromType>
struct ConverterStringStream<FromType, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const FromType& input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const FromType& input)
{
using namespace fallbackTemplates;
// this operator call only chooses fallbackTemplates::operator<<()
@@ -240,7 +240,7 @@
{
/// Fallback operator >>() (delegates to orxonox::ConverterFallback)
template <class ToType>
- FORCEINLINE bool operator >>(std::istream& instream, ToType& output)
+ ORX_FORCEINLINE bool operator >>(std::istream& instream, ToType& output)
{
std::string input(static_cast<std::istringstream&>(instream).str());
return orxonox::ConverterFallback<std::string, ToType>::convert(&output, input);
@@ -251,7 +251,7 @@
template <class ToType>
struct ConverterStringStream<std::string, ToType>
{
- FORCEINLINE static bool convert(ToType* output, const std::string& input)
+ ORX_FORCEINLINE static bool convert(ToType* output, const std::string& input)
{
using namespace fallbackTemplates;
// this operator call chooses fallbackTemplates::operator>>()
@@ -275,14 +275,14 @@
/// %Template delegates to ::ConverterStringStream
template <class FromType, class ToType>
- FORCEINLINE bool convertImplicitely(ToType* output, const FromType& input, Loki::Int2Type<false>)
+ ORX_FORCEINLINE bool convertImplicitely(ToType* output, const FromType& input, Loki::Int2Type<false>)
{
return ConverterStringStream<FromType, ToType>::convert(output, input);
}
/// Makes an implicit cast from \a FromType to \a ToType
template <class FromType, class ToType>
- FORCEINLINE bool convertImplicitely(ToType* output, const FromType& input, Loki::Int2Type<true>)
+ ORX_FORCEINLINE bool convertImplicitely(ToType* output, const FromType& input, Loki::Int2Type<true>)
{
(*output) = static_cast<ToType>(input);
return true;
@@ -302,7 +302,7 @@
struct ConverterExplicit
{
enum { probe = ImplicitConversion<FromType, ToType>::exists };
- FORCEINLINE static bool convert(ToType* output, const FromType& input)
+ ORX_FORCEINLINE static bool convert(ToType* output, const FromType& input)
{
// Use the probe's value to delegate to the right function
return convertImplicitely(output, input, Loki::Int2Type<probe>());
@@ -326,7 +326,7 @@
The original value
*/
template <class FromType, class ToType>
- FORCEINLINE bool convertValue(ToType* output, const FromType& input)
+ ORX_FORCEINLINE bool convertValue(ToType* output, const FromType& input)
{
return ConverterExplicit<FromType, ToType>::convert(output, input);
}
@@ -347,7 +347,7 @@
A default value that gets written to '*output' if there is no conversion.
*/
template<class FromType, class ToType>
- FORCEINLINE bool convertValue(ToType* output, const FromType& input, const ToType& fallback)
+ ORX_FORCEINLINE bool convertValue(ToType* output, const FromType& input, const ToType& fallback)
{
if (convertValue(output, input))
return true;
@@ -360,7 +360,7 @@
/// Directly returns the converted value, but uses the fallback on failure. @see convertValue
template<class FromType, class ToType>
- FORCEINLINE ToType getConvertedValue(const FromType& input, const ToType& fallback)
+ ORX_FORCEINLINE ToType getConvertedValue(const FromType& input, const ToType& fallback)
{
ToType output;
convertValue(&output, input, fallback);
@@ -379,7 +379,7 @@
The original value
*/
template<class ToType, class FromType>
- FORCEINLINE ToType multi_cast(const FromType& input)
+ ORX_FORCEINLINE ToType multi_cast(const FromType& input)
{
ToType output;
convertValue(&output, input);
@@ -394,7 +394,7 @@
template <class ToType>
struct ConverterExplicit<const char*, ToType>
{
- FORCEINLINE static bool convert(ToType* output, const char* input)
+ ORX_FORCEINLINE static bool convert(ToType* output, const char* input)
{
return convertValue<std::string, ToType>(output, input);
}
@@ -404,7 +404,7 @@
template <>
struct ConverterExplicit<char, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const char input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const char input)
{
*output = input;
return true;
@@ -414,7 +414,7 @@
template <>
struct ConverterExplicit<unsigned char, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const unsigned char input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const unsigned char input)
{
*output = input;
return true;
@@ -424,7 +424,7 @@
template <>
struct ConverterExplicit<std::string, char>
{
- FORCEINLINE static bool convert(char* output, const std::string& input)
+ ORX_FORCEINLINE static bool convert(char* output, const std::string& input)
{
if (!input.empty())
*output = input[0];
@@ -437,7 +437,7 @@
template <>
struct ConverterExplicit<std::string, unsigned char>
{
- FORCEINLINE static bool convert(unsigned char* output, const std::string& input)
+ ORX_FORCEINLINE static bool convert(unsigned char* output, const std::string& input)
{
if (!input.empty())
*output = input[0];
@@ -452,7 +452,7 @@
template <>
struct ConverterExplicit<bool, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const bool& input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const bool& input)
{
if (input)
*output = "true";
Modified: code/branches/kicklib2/src/libraries/util/MathConvert.h
===================================================================
--- code/branches/kicklib2/src/libraries/util/MathConvert.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/util/MathConvert.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -50,7 +50,7 @@
template <>
struct ConverterExplicit<orxonox::Vector2, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const orxonox::Vector2& input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const orxonox::Vector2& input)
{
std::ostringstream ostream;
if (ostream << input.x << ',' << input.y)
@@ -66,7 +66,7 @@
template <>
struct ConverterExplicit<orxonox::Vector3, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const orxonox::Vector3& input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const orxonox::Vector3& input)
{
std::ostringstream ostream;
if (ostream << input.x << ',' << input.y << ',' << input.z)
@@ -82,7 +82,7 @@
template <>
struct ConverterExplicit<orxonox::Vector4, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const orxonox::Vector4& input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const orxonox::Vector4& input)
{
std::ostringstream ostream;
if (ostream << input.x << ',' << input.y << ',' << input.z << ',' << input.w)
@@ -98,7 +98,7 @@
template <>
struct ConverterExplicit<orxonox::Quaternion, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const orxonox::Quaternion& input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const orxonox::Quaternion& input)
{
std::ostringstream ostream;
if (ostream << input.w << ',' << input.x << ',' << input.y << ',' << input.z)
@@ -114,7 +114,7 @@
template <>
struct ConverterExplicit<orxonox::ColourValue, std::string>
{
- FORCEINLINE static bool convert(std::string* output, const orxonox::ColourValue& input)
+ ORX_FORCEINLINE static bool convert(std::string* output, const orxonox::ColourValue& input)
{
std::ostringstream ostream;
if (ostream << input.r << ',' << input.g << ',' << input.b << ',' << input.a)
@@ -156,7 +156,7 @@
template <class ToType>
struct ConverterFallback<orxonox::Radian, ToType>
{
- FORCEINLINE static bool convert(ToType* output, const orxonox::Radian& input)
+ ORX_FORCEINLINE static bool convert(ToType* output, const orxonox::Radian& input)
{
return convertValue<Ogre::Real, ToType>(output, input.valueRadians());
}
@@ -166,7 +166,7 @@
template <class ToType>
struct ConverterFallback<orxonox::Degree, ToType>
{
- FORCEINLINE static bool convert(ToType* output, const orxonox::Degree& input)
+ ORX_FORCEINLINE static bool convert(ToType* output, const orxonox::Degree& input)
{
return convertValue<Ogre::Real, ToType>(output, input.valueDegrees());
}
@@ -176,7 +176,7 @@
template <class FromType>
struct ConverterFallback<FromType, orxonox::Radian>
{
- FORCEINLINE static bool convert(orxonox::Radian* output, const FromType& input)
+ ORX_FORCEINLINE static bool convert(orxonox::Radian* output, const FromType& input)
{
float temp;
if (convertValue(&temp, input))
@@ -193,7 +193,7 @@
template <class FromType>
struct ConverterFallback<FromType, orxonox::Degree>
{
- FORCEINLINE static bool convert(orxonox::Degree* output, const FromType& input)
+ ORX_FORCEINLINE static bool convert(orxonox::Degree* output, const FromType& input)
{
float temp;
if (convertValue(&temp, input))
Modified: code/branches/kicklib2/src/libraries/util/SharedPtr.h
===================================================================
--- code/branches/kicklib2/src/libraries/util/SharedPtr.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/util/SharedPtr.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -162,6 +162,7 @@
{
public:
SharedCounter() : count_(1) {}
+ virtual ~SharedCounter() {}
virtual void destroy() = 0;
int count_;
@@ -185,7 +186,7 @@
_UtilExport SmallObjectAllocator& createSharedCounterPool();
- FORCEINLINE SmallObjectAllocator& getSharedCounterPool()
+ ORX_FORCEINLINE SmallObjectAllocator& getSharedCounterPool()
{
static SmallObjectAllocator& instance = createSharedCounterPool();
return instance;
Modified: code/branches/kicklib2/src/libraries/util/SignalHandler.h
===================================================================
--- code/branches/kicklib2/src/libraries/util/SignalHandler.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/util/SignalHandler.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -69,7 +69,7 @@
typedef std::list<SignalCallbackRec> SignalCallbackList;
/// The SignalHandler is used to catch signals like SIGSEGV and write a backtrace to the logfile.
- class SignalHandler : public Singleton<SignalHandler>
+ class _UtilExport SignalHandler : public Singleton<SignalHandler>
{
friend class Singleton<SignalHandler>;
Modified: code/branches/kicklib2/src/libraries/util/UtilPrereqs.h
===================================================================
--- code/branches/kicklib2/src/libraries/util/UtilPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/libraries/util/UtilPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -51,10 +51,13 @@
# define _UtilExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _UtilPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _UtilExport __attribute__ ((visibility("default")))
+# define _UtilPrivate __attribute__ ((visibility("hidden")))
#else
# define _UtilExport
+# define _UtilPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/designtools/DesignToolsPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/designtools/DesignToolsPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/designtools/DesignToolsPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _DesignToolsExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _DesignToolsPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _DesignToolsExport __attribute__ ((visibility("default")))
+# define _DesignToolsPrivate __attribute__ ((visibility("hidden")))
#else
# define _DesignToolsExport
+# define _DesignToolsPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/designtools/ScreenshotManager.cc
===================================================================
--- code/branches/kicklib2/src/modules/designtools/ScreenshotManager.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/designtools/ScreenshotManager.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -45,6 +45,7 @@
#include "core/ConfigValueIncludes.h"
#include "core/GraphicsManager.h"
#include "core/PathConfig.h"
+#include "core/Resource.h"
#include "core/command/ConsoleCommand.h"
#include "util/ScopedSingletonManager.h"
#include "util/StringUtils.h"
Modified: code/branches/kicklib2/src/modules/notifications/NotificationsPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/notifications/NotificationsPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/notifications/NotificationsPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _NotificationsExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _NotificationsPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _NotificationsExport __attribute__ ((visibility("default")))
+# define _NotificationsPrivate __attribute__ ((visibility("hidden")))
#else
# define _NotificationsExport
+# define _NotificationsPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/objects/ObjectsPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/objects/ObjectsPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/objects/ObjectsPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _ObjectsExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _ObjectsPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _ObjectsExport __attribute__ ((visibility("default")))
+# define _ObjectsPrivate __attribute__ ((visibility("hidden")))
#else
# define _ObjectsExport
+# define _ObjectsPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/overlays/OverlaysPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/overlays/OverlaysPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/overlays/OverlaysPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _OverlaysExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _OverlaysPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _OverlaysExport __attribute__ ((visibility("default")))
+# define _OverlaysPrivate __attribute__ ((visibility("hidden")))
#else
# define _OverlaysExport
+# define _OverlaysPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/pickup/PickupPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/pickup/PickupPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/pickup/PickupPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _PickupExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _PickupPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _PickupExport __attribute__ ((visibility("default")))
+# define _PickupPrivate __attribute__ ((visibility("hidden")))
#else
# define _PickupExport
+# define _PickupPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/pong/PongPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/pong/PongPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/pong/PongPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _PongExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _PongPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _PongExport __attribute__ ((visibility("default")))
+# define _PongPrivate __attribute__ ((visibility("hidden")))
#else
# define _PongExport
+# define _PongPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/questsystem/QuestEffect.cc
===================================================================
--- code/branches/kicklib2/src/modules/questsystem/QuestEffect.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/questsystem/QuestEffect.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -67,14 +67,14 @@
*/
/*static*/ bool QuestEffect::invokeEffects(PlayerInfo* player, std::list<QuestEffect*> & effects)
{
- bool check = true;
+ bool temp = true;
COUT(4) << "Invoking QuestEffects on player: " << player << " ." << std::endl;
for (std::list<QuestEffect*>::iterator effect = effects.begin(); effect != effects.end(); effect++)
- check = check && (*effect)->invoke(player);
+ temp = temp && (*effect)->invoke(player);
- return check;
+ return temp;
}
}
Modified: code/branches/kicklib2/src/modules/questsystem/QuestEffectBeacon.cc
===================================================================
--- code/branches/kicklib2/src/modules/questsystem/QuestEffectBeacon.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/questsystem/QuestEffectBeacon.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -142,8 +142,8 @@
COUT(4) << "QuestEffectBeacon executed on player: " << player << " ." << std::endl;
- bool check = QuestEffect::invokeEffects(player, this->effects_); // Invoke the QuestEffects on the PlayerInfo.
- if(check)
+ bool temp = QuestEffect::invokeEffects(player, this->effects_); // Invoke the QuestEffects on the PlayerInfo.
+ if(temp)
{
this->decrementTimes(); // Decrement the number of times the beacon can be used.
return true;
Modified: code/branches/kicklib2/src/modules/questsystem/QuestsystemPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/questsystem/QuestsystemPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/questsystem/QuestsystemPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _QuestsystemExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _QuestsystemPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _QuestsystemExport __attribute__ ((visibility("default")))
+# define _QuestsystemPrivate __attribute__ ((visibility("hidden")))
#else
# define _QuestsystemExport
+# define _QuestsystemPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/modules/questsystem/effects/AddReward.cc
===================================================================
--- code/branches/kicklib2/src/modules/questsystem/effects/AddReward.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/questsystem/effects/AddReward.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -104,13 +104,13 @@
{
COUT(5) << "AddReward on player: " << player << " ." << std::endl;
- bool check = true;
+ bool temp = true;
for ( std::list<Rewardable*>::iterator reward = this->rewards_.begin(); reward != this->rewards_.end(); ++reward )
- check = check && (*reward)->reward(player);
+ temp = temp && (*reward)->reward(player);
COUT(4) << "Rewardable successfully added to player." << player << " ." << std::endl;
- return check;
+ return temp;
}
}
Modified: code/branches/kicklib2/src/modules/weapons/WeaponsPrereqs.h
===================================================================
--- code/branches/kicklib2/src/modules/weapons/WeaponsPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/modules/weapons/WeaponsPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _WeaponsExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _WeaponsPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _WeaponsExport __attribute__ ((visibility("default")))
+# define _WeaponsPrivate __attribute__ ((visibility("hidden")))
#else
# define _WeaponsExport
+# define _WeaponsPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/orxonox/MoodManager.cc
===================================================================
--- code/branches/kicklib2/src/orxonox/MoodManager.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/orxonox/MoodManager.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -55,6 +55,9 @@
// TODO: Non-fatal error handling (non-critical resource missing)
COUT(2) << "Mood Warning: Folder for default mood (" << MoodManager::defaultMood_ << ") does not exist!" << std::endl;
}
+
+ // @TODO
+ // Creating a vector of the available moods to enable easy mood selection by Lua/CEGUI
}
void MoodManager::setConfigValues()
Modified: code/branches/kicklib2/src/orxonox/OrxonoxPrereqs.h
===================================================================
--- code/branches/kicklib2/src/orxonox/OrxonoxPrereqs.h 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/orxonox/OrxonoxPrereqs.h 2011-04-21 16:58:23 UTC (rev 8284)
@@ -52,10 +52,13 @@
# define _OrxonoxExport __declspec(dllimport)
# endif
# endif
-#elif defined ( ORXONOX_GCC_VISIBILITY )
+# define _OrxonoxPrivate
+#elif defined (ORXONOX_GCC_VISIBILITY)
# define _OrxonoxExport __attribute__ ((visibility("default")))
+# define _OrxonoxPrivate __attribute__ ((visibility("hidden")))
#else
# define _OrxonoxExport
+# define _OrxonoxPrivate
#endif
//-----------------------------------------------------------------------
Modified: code/branches/kicklib2/src/orxonox/sound/AmbientSound.cc
===================================================================
--- code/branches/kicklib2/src/orxonox/sound/AmbientSound.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/orxonox/sound/AmbientSound.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -41,7 +41,7 @@
RegisterObject(AmbientSound);
// Ambient sounds always fade in
- this->setVolume(0);
+ this->setVolume(0.0f);
}
void AmbientSound::preDestroy()
Modified: code/branches/kicklib2/src/orxonox/sound/SoundBuffer.cc
===================================================================
--- code/branches/kicklib2/src/orxonox/sound/SoundBuffer.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/orxonox/sound/SoundBuffer.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -29,7 +29,7 @@
#include "SoundBuffer.h"
-#include <AL/alut.h>
+#include <alut.h>
#include <vorbis/vorbisfile.h>
#include "util/Exception.h"
Modified: code/branches/kicklib2/src/orxonox/sound/SoundManager.cc
===================================================================
--- code/branches/kicklib2/src/orxonox/sound/SoundManager.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/orxonox/sound/SoundManager.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -30,8 +30,8 @@
#include "SoundManager.h"
-#include <AL/alut.h>
#include <utility>
+#include <alut.h>
#include <loki/ScopeGuard.h>
#include "util/Exception.h"
@@ -72,12 +72,15 @@
this->bDestructorCalled_ = false;
+ // Clear error messages (might be problematic on some systems)
+ alGetError();
+ alutGetError();
+
// See whether we even want to load
bool bDisableSound_ = false;
SetConfigValue(bDisableSound_, false);
if (bDisableSound_)
ThrowException(InitialisationAborted, "Sound: Not loading at all");
-
if (!alutInitWithoutContext(NULL, NULL))
ThrowException(InitialisationFailed, "Sound Error: ALUT initialisation failed: " << alutGetErrorString(alutGetError()));
Loki::ScopeGuard alutExitGuard = Loki::MakeGuard(&alutExit);
Modified: code/branches/kicklib2/src/orxonox/sound/WorldSound.cc
===================================================================
--- code/branches/kicklib2/src/orxonox/sound/WorldSound.cc 2011-04-21 16:32:28 UTC (rev 8283)
+++ code/branches/kicklib2/src/orxonox/sound/WorldSound.cc 2011-04-21 16:58:23 UTC (rev 8284)
@@ -29,7 +29,8 @@
#include "WorldSound.h"
-#include <AL/alut.h>
+#include <alut.h>
+
#include "util/Math.h"
#include "core/CoreIncludes.h"
#include "core/EventIncludes.h"
Copied: code/branches/kicklib2/src/orxonox-main.vcxproj.user.in (from rev 8096, code/branches/kicklib/src/orxonox-main.vcxproj.user.in)
===================================================================
--- code/branches/kicklib2/src/orxonox-main.vcxproj.user.in (rev 0)
+++ code/branches/kicklib2/src/orxonox-main.vcxproj.user.in 2011-04-21 16:58:23 UTC (rev 8284)
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|${MSVC_PLATFORM}'">
+ <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
+ <LocalDebuggerEnvironment>PATH=${RUNTIME_LIBRARY_DIRECTORY};%PATH%</LocalDebuggerEnvironment>
+ <LocalDebuggerWorkingDirectory>$(Outdir)</LocalDebuggerWorkingDirectory>
+ </PropertyGroup>
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|${MSVC_PLATFORM}'">
+ <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
+ <LocalDebuggerEnvironment>PATH=${RUNTIME_LIBRARY_DIRECTORY};%PATH%</LocalDebuggerEnvironment>
+ <LocalDebuggerWorkingDirectory>$(Outdir)</LocalDebuggerWorkingDirectory>
+ </PropertyGroup>
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|${MSVC_PLATFORM}'">
+ <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
+ <LocalDebuggerEnvironment>PATH=${RUNTIME_LIBRARY_DIRECTORY};%PATH%</LocalDebuggerEnvironment>
+ <LocalDebuggerWorkingDirectory>$(Outdir)</LocalDebuggerWorkingDirectory>
+ </PropertyGroup>
+ <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|${MSVC_PLATFORM}'">
+ <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
+ <LocalDebuggerEnvironment>PATH=${RUNTIME_LIBRARY_DIRECTORY};%PATH%</LocalDebuggerEnvironment>
+ <LocalDebuggerWorkingDirectory>$(Outdir)</LocalDebuggerWorkingDirectory>
+ </PropertyGroup>
+</Project>
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