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

code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.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.
@@ -14 +14 @@
 */
 
+
+
 #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();
 
 }
-
-
 
  
@@ -44 +46 @@
         btVector3 supVec(0,0,0);
 
-        btScalar maxDot(btScalar(-1e30));
+        btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
 
@@ -61 +63 @@
         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();
@@ -86 +89 @@
         for (int j=0;j<numVectors;j++)
         {
-                btScalar maxDot(btScalar(-1e30));
+                btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
                 const btVector3& vec = vectors[j];
@@ -93 +96 @@
                 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();
@@ -122 +125 @@
         //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);
-
-        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);
+        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));
 
 }
 
 
+///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";
+}
+
+