Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

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

code/branches/kicklib/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";
+}
+