Changeset 8351 for code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp

Timestamp:

Apr 28, 2011, 7:15:14 AM (13 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

File:

• code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp (modified) (9 diffs)

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.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.
@@ -17 +17 @@
 #include "btCollisionShape.h"
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
+#include "LinearMath/btSerializer.h"
 
 btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
-: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
-m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
+: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
+m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)),
+m_dynamicAabbTree(0),
+m_updateRevision(1),
 m_collisionMargin(btScalar(0.)),
-m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_dynamicAabbTree(0),
-m_updateRevision(1)
+m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
 {
         m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
@@ -52 +53 @@
         //m_childShapes.push_back(shape);
         btCompoundShapeChild child;
+        child.m_node = 0;
         child.m_transform = localTransform;
         child.m_childShape = shape;
@@ -94 +96 @@
                 m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
                 ATTRIBUTE_ALIGNED16(btDbvtVolume)       bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-                int index = m_children.size()-1;
+                //int index = m_children.size()-1;
                 m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
         }
@@ -110 +112 @@
         }
         m_children.swap(childShapeIndex,m_children.size()-1);
+    if (m_dynamicAabbTree) 
+                m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex;
         m_children.pop_back();
 
@@ -125 +129 @@
                 if(m_children[i].m_childShape == shape)
                 {
-                        m_children.swap(i,m_children.size()-1);
-                        m_children.pop_back();
-                        //remove it from the m_dynamicAabbTree too
-                        //@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm
-                        //so effectively, removeChildShape is broken at the moment
-                        //m_dynamicAabbTree->remove(m_aabbProxies[i]);
-                        //m_aabbProxies.swap(i,m_children.size()-1);
-                        //m_aabbProxies.pop_back();
+                        removeChildShapeByIndex(i);
                 }
         }
@@ -146 +143 @@
         // Brute force, it iterates over all the shapes left.
 
-        m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
-        m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
+        m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+        m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
 
         //extend the local aabbMin/aabbMax
@@ -224 +221 @@
         for (k = 0; k < n; k++)
         {
+                btAssert(masses[k]>0);
                 center += m_children[k].m_transform.getOrigin() * masses[k];
                 totalMass += masses[k];
         }
+
+        btAssert(totalMass>0);
+
         center /= totalMass;
         principal.setOrigin(center);
@@ -272 +273 @@
 
 
+void btCompoundShape::setLocalScaling(const btVector3& scaling)
+{
+
+        for(int i = 0; i < m_children.size(); i++)
+        {
+                btTransform childTrans = getChildTransform(i);
+                btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
+//              childScale = childScale * (childTrans.getBasis() * scaling);
+                childScale = childScale * scaling / m_localScaling;
+                m_children[i].m_childShape->setLocalScaling(childScale);
+                childTrans.setOrigin((childTrans.getOrigin())*scaling);
+                updateChildTransform(i, childTrans);
+                recalculateLocalAabb();
+        }
+        m_localScaling = scaling;
+}
+
+
+void btCompoundShape::createAabbTreeFromChildren()
+{
+    if ( !m_dynamicAabbTree )
+    {
+        void* mem = btAlignedAlloc(sizeof(btDbvt),16);
+        m_dynamicAabbTree = new(mem) btDbvt();
+        btAssert(mem==m_dynamicAabbTree);
+
+        for ( int index = 0; index < m_children.size(); index++ )
+        {
+            btCompoundShapeChild &child = m_children[index];
+
+            //extend the local aabbMin/aabbMax
+            btVector3 localAabbMin,localAabbMax;
+            child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
+
+            const btDbvtVolume  bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
+            child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
+        }
+    }
+}
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*     btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+        btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
+        btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
+
+        shapeData->m_collisionMargin = float(m_collisionMargin);
+        shapeData->m_numChildShapes = m_children.size();
+        shapeData->m_childShapePtr = 0;
+        if (shapeData->m_numChildShapes)
+        {
+                btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
+                btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
+                shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr);
+
+                for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
+                {
+                        memPtr->m_childMargin = float(m_children[i].m_childMargin);
+                        memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape);
+                        //don't serialize shapes that already have been serialized
+                        if (!serializer->findPointer(m_children[i].m_childShape))
+                        {
+                                btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
+                                const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);
+                                serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape);
+                        } 
+
+                        memPtr->m_childShapeType = m_children[i].m_childShapeType;
+                        m_children[i].m_transform.serializeFloat(memPtr->m_transform);
+                }
+                serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
+        }
+        return "btCompoundShapeData";
+}
+