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Update Bullet to the latest commit 126b676

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This commit is contained in:
Oussama
2019-01-03 14:26:51 +01:00
committed by Rémi Verschelde
parent a6722cf362
commit 22b7c9dfa8
612 changed files with 114715 additions and 103413 deletions
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106
thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp vendored
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@@ -26,61 +26,55 @@ subject to the following restrictions:
#define USE_PERSISTENT_CONTACTS 1
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap)
: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap)
: btActivatingCollisionAlgorithm(ci, obj0Wrap, obj1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()))
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject());
m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject());
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);
void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
//#include <stdio.h>
void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btBox2dBox2dCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
resultOut->setPersistentManifold(m_manifoldPtr);
b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform());
b2CollidePolygons(resultOut, box0, body0Wrap->getWorldTransform(), box1, body1Wrap->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*/)
btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
{
//not yet
return 1.f;
}
struct ClipVertex
{
btVector3 v;
@@ -89,16 +83,16 @@ struct ClipVertex
//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)
#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;
int b2_maxManifoldPoints = 2;
static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
const btVector3& normal, btScalar offset)
const btVector3& normal, btScalar offset)
{
// Start with no output points
int numOut = 0;
@@ -133,7 +127,7 @@ static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
// 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 btBox2dShape* poly2, const btTransform& xf2)
{
const btVector3* vertices1 = poly1->getVertices();
const btVector3* normals1 = poly1->getNormals();
@@ -151,8 +145,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
int index = 0;
btScalar minDot = BT_LARGE_FLOAT;
if( count2 > 0 )
index = (int) normal1.minDot( vertices2, count2, minDot);
if (count2 > 0)
index = (int)normal1.minDot(vertices2, count2, minDot);
btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -162,8 +156,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
// 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)
const btBox2dShape* poly1, const btTransform& xf1,
const btBox2dShape* poly2, const btTransform& xf2)
{
int count1 = poly1->getVertexCount();
const btVector3* normals1 = poly1->getNormals();
@@ -174,9 +168,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
// Find edge normal on poly1 that has the largest projection onto d.
int edge = 0;
btScalar maxDot;
if( count1 > 0 )
edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
btScalar maxDot;
if (count1 > 0)
edge = (int)dLocal1.maxDot(normals1, count1, maxDot);
// Get the separation for the edge normal.
btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
@@ -224,7 +218,7 @@ static btScalar FindMaxSeparation(int* edgeIndex,
}
// Perform a local search for the best edge normal.
for ( ; ; )
for (;;)
{
if (increment == -1)
edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
@@ -285,14 +279,14 @@ static void FindIncidentEdge(ClipVertex c[2],
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[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;
// 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
@@ -303,10 +297,9 @@ static void FindIncidentEdge(ClipVertex c[2],
// The normal points from 1 to 2
void b2CollidePolygons(btManifoldResult* manifold,
const btBox2dShape* polyA, const btTransform& xfA,
const btBox2dShape* polyB, const btTransform& xfB)
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)
@@ -317,10 +310,10 @@ void b2CollidePolygons(btManifoldResult* manifold,
if (separationB > 0.0f)
return;
const btBox2dShape* poly1; // reference poly
const btBox2dShape* poly2; // incident poly
const btBox2dShape* poly1; // reference poly
const btBox2dShape* poly2; // incident poly
btTransform xf1, xf2;
int edge1; // reference edge
int edge1; // reference edge
unsigned char flip;
const btScalar k_relativeTol = 0.98f;
const btScalar k_absoluteTol = 0.001f;
@@ -352,14 +345,13 @@ void b2CollidePolygons(btManifoldResult* manifold,
const btVector3* vertices1 = poly1->getVertices();
btVector3 v11 = vertices1[edge1];
btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
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);
@@ -369,13 +361,12 @@ void b2CollidePolygons(btManifoldResult* manifold,
// 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);
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);
clipPoints2[0].v.setValue(0, 0, 0);
clipPoints2[1].v.setValue(0, 0, 0);
int np;
@@ -386,7 +377,7 @@ void b2CollidePolygons(btManifoldResult* manifold,
return;
// Clip to negative box side 1
np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
if (np < 2)
{
@@ -403,19 +394,18 @@ void b2CollidePolygons(btManifoldResult* manifold,
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);
manifold->addContactPoint(-manifoldNormal, clipPoints2[i].v, separation);
// cp->id = clipPoints2[i].id;
// cp->id.features.flip = flip;
// cp->id = clipPoints2[i].id;
// cp->id.features.flip = flip;
++pointCount;
}
}
// manifold->pointCount = pointCount;}
// manifold->pointCount = pointCount;}
}