Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.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/btCylinderShape.h (modified) (7 diffs)

code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.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.
@@ -22 +22 @@
 
 /// 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
 
 {
@@ -31 +31 @@
 
 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
@@ -74 +101 @@
         }
 
+        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
@@ -80 +119 @@
         }
 
-
+        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;
 
 };
@@ -113 +155 @@
         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 
-        virtual int     getUpAxis() const
-        {
-                return 2;
-        }
                 //debugging
         virtual const char*     getName()const
@@ -130 +168 @@
 };
 
+///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