Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h (modified) (4 diffs)

code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -1 +1 @@
 /*
 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.
@@ -44 +44 @@
         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
         {
@@ -77 +89 @@
                 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;
+
 
 };
@@ -114 +144 @@
 };
 
+///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