Changeset 8351 for code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.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/btMultiSphereShape.cpp (modified) (7 diffs)

code/trunk/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";
+}
+
+