Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp

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/btConvexHullShape.cpp (modified) (5 diffs)

code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -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.
@@ -13 +13 @@
 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"
-
-
-
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
+#include "LinearMath/btSerializer.h"
+
+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;
         }
 
@@ -52 +53 @@
 }
 
-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);
-
-        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;
-        }
-
+        btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
 
         for (int i=0;i<m_unscaledPoints.size();i++)
@@ -90 +79 @@
                 for (int i=0;i<numVectors;i++)
                 {
-                        supportVerticesOut[i][3] = btScalar(-1e30);
+                        supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
                 }
         }
@@ -186 +175 @@
 }
 
+///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";
+}
+
+