Bullet Collision Detection & Physics Library
btConvexShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#if defined(_WIN32) || defined(__i386__)
17#define BT_USE_SSE_IN_API
18#endif
19
20#include "btConvexShape.h"
21#include "btTriangleShape.h"
22#include "btSphereShape.h"
23#include "btCylinderShape.h"
24#include "btConeShape.h"
25#include "btCapsuleShape.h"
26#include "btConvexHullShape.h"
28
30#if defined(__CELLOS_LV2__) && defined(__SPU__)
31#include <spu_intrinsics.h>
33{
38}
39#endif //__SPU__
40
42{
43}
44
46{
47}
48
50{
51 btVector3 localAxis = dir * trans.getBasis();
54
55 min = vtx1.dot(dir);
56 max = vtx2.dot(dir);
59
60 if (min > max)
61 {
62 btScalar tmp = min;
63 min = max;
64 max = tmp;
67 }
68}
69
70static btVector3 convexHullSupport(const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
71{
72 btVector3 vec = localDirOrg * localScaling;
73
74#if defined(__CELLOS_LV2__) && defined(__SPU__)
75
77
78 vec_float4 v_distMax = {-FLT_MAX, 0, 0, 0};
79 vec_int4 v_idxMax = {-999, 0, 0, 0};
80 int v = 0;
81 int numverts = numPoints;
82
83 for (; v < (int)numverts - 4; v += 4)
84 {
85 vec_float4 p0 = vec_dot3(points[v].get128(), localDir.get128());
86 vec_float4 p1 = vec_dot3(points[v + 1].get128(), localDir.get128());
87 vec_float4 p2 = vec_dot3(points[v + 2].get128(), localDir.get128());
88 vec_float4 p3 = vec_dot3(points[v + 3].get128(), localDir.get128());
89 const vec_int4 i0 = {v, 0, 0, 0};
90 const vec_int4 i1 = {v + 1, 0, 0, 0};
91 const vec_int4 i2 = {v + 2, 0, 0, 0};
92 const vec_int4 i3 = {v + 3, 0, 0, 0};
105 }
106 for (; v < (int)numverts; v++)
107 {
108 vec_float4 p = vec_dot3(points[v].get128(), localDir.get128());
109 const vec_int4 i = {v, 0, 0, 0};
113 }
114 int ptIndex = spu_extract(v_idxMax, 0);
115 const btVector3& supVec = points[ptIndex] * localScaling;
116 return supVec;
117#else
118
119 btScalar maxDot;
120 long ptIndex = vec.maxDot(points, numPoints, maxDot);
121 btAssert(ptIndex >= 0);
122 if (ptIndex < 0)
123 {
124 ptIndex = 0;
125 }
126 btVector3 supVec = points[ptIndex] * localScaling;
127 return supVec;
128#endif //__SPU__
129}
130
132{
133 switch (m_shapeType)
134 {
136 {
137 return btVector3(0, 0, 0);
138 }
140 {
142 const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
143
144#if defined(__APPLE__) && (defined(BT_USE_SSE) || defined(BT_USE_NEON))
145#if defined(BT_USE_SSE)
146 return btVector3(_mm_xor_ps(_mm_and_ps(localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f}), halfExtents.mVec128));
147#elif defined(BT_USE_NEON)
148 return btVector3((float32x4_t)(((uint32x4_t)localDir.mVec128 & (uint32x4_t){0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t)halfExtents.mVec128));
149#else
150#error unknown vector arch
151#endif
152#else
153 return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
154 btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
155 btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
156#endif
157 }
159 {
161 btVector3 dir(localDir.getX(), localDir.getY(), localDir.getZ());
162 btVector3* vertices = &triangleShape->m_vertices1[0];
163 btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
164 btVector3 sup = vertices[dots.maxAxis()];
165 return btVector3(sup.getX(), sup.getY(), sup.getZ());
166 }
168 {
170 //mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
171
172 btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
173 btVector3 v(localDir.getX(), localDir.getY(), localDir.getZ());
174 int cylinderUpAxis = cylShape->getUpAxis();
175 int XX(1), YY(0), ZZ(2);
176
177 switch (cylinderUpAxis)
178 {
179 case 0:
180 {
181 XX = 1;
182 YY = 0;
183 ZZ = 2;
184 }
185 break;
186 case 1:
187 {
188 XX = 0;
189 YY = 1;
190 ZZ = 2;
191 }
192 break;
193 case 2:
194 {
195 XX = 0;
196 YY = 2;
197 ZZ = 1;
198 }
199 break;
200 default:
201 btAssert(0);
202 break;
203 };
204
207
209 btScalar d;
210
211 btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
212 if (s != btScalar(0.0))
213 {
214 d = radius / s;
215 tmp[XX] = v[XX] * d;
216 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
217 tmp[ZZ] = v[ZZ] * d;
218 return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
219 }
220 else
221 {
222 tmp[XX] = radius;
223 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
224 tmp[ZZ] = btScalar(0.0);
225 return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
226 }
227 }
229 {
230 btVector3 vec0(localDir.getX(), localDir.getY(), localDir.getZ());
231
234 int capsuleUpAxis = capsuleShape->getUpAxis();
235
236 btVector3 supVec(0, 0, 0);
237
239
243 {
244 vec.setValue(1, 0, 0);
245 }
246 else
247 {
249 vec *= rlen;
250 }
253 {
254 btVector3 pos(0, 0, 0);
256
257 vtx = pos;
258 newDot = vec.dot(vtx);
259
260 if (newDot > maxDot)
261 {
262 maxDot = newDot;
263 supVec = vtx;
264 }
265 }
266 {
267 btVector3 pos(0, 0, 0);
269
270 vtx = pos;
271 newDot = vec.dot(vtx);
272 if (newDot > maxDot)
273 {
274 maxDot = newDot;
275 supVec = vtx;
276 }
277 }
278 return btVector3(supVec.getX(), supVec.getY(), supVec.getZ());
279 }
281 {
283 btVector3* points = convexPointCloudShape->getUnscaledPoints();
284 int numPoints = convexPointCloudShape->getNumPoints();
285 return convexHullSupport(localDir, points, numPoints, convexPointCloudShape->getLocalScalingNV());
286 }
288 {
290 btVector3* points = convexHullShape->getUnscaledPoints();
291 int numPoints = convexHullShape->getNumPoints();
292 return convexHullSupport(localDir, points, numPoints, convexHullShape->getLocalScalingNV());
293 }
294 default:
295#ifndef __SPU__
296 return this->localGetSupportingVertexWithoutMargin(localDir);
297#else
298 btAssert(0);
299#endif
300 }
301
302 // should never reach here
303 btAssert(0);
304 return btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
305}
306
308{
310 if (localDirNorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
311 {
313 }
314 localDirNorm.normalize();
315
317}
318
319/* TODO: This should be bumped up to btCollisionShape () */
321{
322 switch (m_shapeType)
323 {
325 {
327 return sphereShape->getRadius();
328 }
330 {
332 return convexShape->getMarginNV();
333 }
335 {
337 return triangleShape->getMarginNV();
338 }
340 {
342 return cylShape->getMarginNV();
343 }
345 {
347 return conShape->getMarginNV();
348 }
350 {
352 return capsuleShape->getMarginNV();
353 }
355 /* fall through */
357 {
360 }
361 default:
362#ifndef __SPU__
363 return this->getMargin();
364#else
365 btAssert(0);
366#endif
367 }
368
369 // should never reach here
370 btAssert(0);
371 return btScalar(0.0f);
372}
373#ifndef __SPU__
375{
376 switch (m_shapeType)
377 {
379 {
381 btScalar radius = sphereShape->getImplicitShapeDimensions().getX(); // * convexShape->getLocalScaling().getX();
382 btScalar margin = radius + sphereShape->getMarginNonVirtual();
383 const btVector3& center = t.getOrigin();
384 btVector3 extent(margin, margin, margin);
385 aabbMin = center - extent;
386 aabbMax = center + extent;
387 }
388 break;
390 /* fall through */
392 {
395 btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
396 halfExtents += btVector3(margin, margin, margin);
397 btMatrix3x3 abs_b = t.getBasis().absolute();
398 btVector3 center = t.getOrigin();
400
401 aabbMin = center - extent;
402 aabbMax = center + extent;
403 break;
404 }
406 {
409 for (int i = 0; i < 3; i++)
410 {
411 btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
412 vec[i] = btScalar(1.);
413
415
416 btVector3 tmp = t(sv);
417 aabbMax[i] = tmp[i] + margin;
418 vec[i] = btScalar(-1.);
420 aabbMin[i] = tmp[i] - margin;
421 }
422 }
423 break;
425 {
427 btVector3 halfExtents(capsuleShape->getRadius(), capsuleShape->getRadius(), capsuleShape->getRadius());
428 int m_upAxis = capsuleShape->getUpAxis();
429 halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
430 btMatrix3x3 abs_b = t.getBasis().absolute();
431 btVector3 center = t.getOrigin();
433 aabbMin = center - extent;
434 aabbMax = center + extent;
435 }
436 break;
439 {
442 convexHullShape->getNonvirtualAabb(t, aabbMin, aabbMax, margin);
443 }
444 break;
445 default:
446#ifndef __SPU__
447 this->getAabb(t, aabbMin, aabbMax);
448#else
449 btAssert(0);
450#endif
451 break;
452 }
453
454 // should never reach here
455 btAssert(0);
456}
457
458#endif //__SPU__
@ CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE
@ TRIANGLE_SHAPE_PROXYTYPE
@ SPHERE_SHAPE_PROXYTYPE
@ BOX_SHAPE_PROXYTYPE
@ CYLINDER_SHAPE_PROXYTYPE
@ CONE_SHAPE_PROXYTYPE
@ CAPSULE_SHAPE_PROXYTYPE
@ CONVEX_HULL_SHAPE_PROXYTYPE
static btVector3 convexHullSupport(const btVector3 &localDirOrg, const btVector3 *points, int numPoints, const btVector3 &localScaling)
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
#define BT_LARGE_FLOAT
Definition btScalar.h:316
btScalar btSqrt(btScalar y)
Definition btScalar.h:466
#define btFsels(a, b, c)
Definition btScalar.h:603
#define SIMD_EPSILON
Definition btScalar.h:543
#define btAssert(x)
Definition btScalar.h:153
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition btBoxShape.h:28
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
btScalar getHalfHeight() const
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition btConeShape.h:26
The btConvexHullShape implements an implicit convex hull of an array of vertices.
const btVector3 & getImplicitShapeDimensions() const
The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
btScalar getMarginNonVirtual() const
virtual ~btConvexShape()
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
virtual void project(const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btVector3 localGetSupportVertexNonVirtual(const btVector3 &vec) const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
void getAabbNonVirtual(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual btScalar getMargin() const =0
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3 &vec) const
The btCylinderShape class implements a cylinder shape primitive, centered around the origin....
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition btMatrix3x3.h:50
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
btScalar getRadius() const
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition btVector3.h:720
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
Definition btVector3.h:998
btScalar length2() const
Return the length of the vector squared.
Definition btVector3.h:251
const btScalar & getX() const
Return the x value.
Definition btVector3.h:561