Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.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/btPolyhedralConvexShape.cpp (modified) (10 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.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.
@@ -16 +16 @@
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
 
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
-m_localAabbMin(1,1,1),
-m_localAabbMax(-1,-1,-1),
-m_isLocalAabbValid(false),
-m_optionalHull(0)
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
 {
 
@@ -28 +24 @@
 btVector3       btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
+
+
+        btVector3 supVec(0,0,0);
+#ifndef __SPU__
         int i;
-        btVector3 supVec(0,0,0);
-
-        btScalar maxDot(btScalar(-1e30));
+        btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
         btVector3 vec = vec0;
@@ -58 +56 @@
         }
 
+        
+#endif //__SPU__
         return supVec;
+}
 
-}
+
 
 void    btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 {
+#ifndef __SPU__
         int i;
 
@@ -71 +73 @@
         for (i=0;i<numVectors;i++)
         {
-                supportVerticesOut[i][3] = btScalar(-1e30);
+                supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
         }
 
@@ -91 +93 @@
                 }
         }
+#endif //__SPU__
 }
 
@@ -97 +100 @@
 void    btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
 {
+#ifndef __SPU__
         //not yet, return box inertia
 
@@ -116 +120 @@
 
         inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
-
+#endif //__SPU__
 }
 
 
 
-void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
-{
-        getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
-}
-
-
-
-void    btPolyhedralConvexShape::setLocalScaling(const btVector3& scaling)
+void    btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
 {
         btConvexInternalShape::setLocalScaling(scaling);
@@ -134 +131 @@
 }
 
-void    btPolyhedralConvexShape::recalcLocalAabb()
+btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
+:btPolyhedralConvexShape(),
+m_localAabbMin(1,1,1),
+m_localAabbMax(-1,-1,-1),
+m_isLocalAabbValid(false)
+{
+}
+
+void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+        getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+}
+
+void    btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
 {
         m_isLocalAabbValid = true;
@@ -182 +192 @@
 }
 
-
-