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Viewing changes to extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Cyril Brulebois
  • Date: 2008-08-08 02:45:40 UTC
  • mfrom: (12.1.14 intrepid)
  • Revision ID: james.westby@ubuntu.com-20080808024540-kkjp7ekfivzhuw3l
Tags: 2.46+dfsg-4
http://bugs.debian.org/492280
* Fix python syntax warning in import_dxf.py, which led to nasty output
  in installation/upgrade logs during byte-compilation, using a patch
  provided by the script author (Closes: #492280):
   - debian/patches/45_fix_python_syntax_warning

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extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
 
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/*
 
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Bullet Continuous Collision Detection and Physics Library
 
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Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
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This software is provided 'as-is', without any express or implied warranty.
 
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In no event will the authors be held liable for any damages arising from the use of this software.
 
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Permission is granted to anyone to use this software for any purpose, 
 
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including commercial applications, and to alter it and redistribute it freely, 
 
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subject to the following restrictions:
 
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1. 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.
 
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 
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3. This notice may not be removed or altered from any source distribution.
 
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*/
 
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#include "btCapsuleShape.h"
 
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 
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#include "LinearMath/btQuaternion.h"
 
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btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
 
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{
 
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        m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
 
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}
 
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 btVector3      btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 
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{
 
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        btVector3 supVec(0,0,0);
 
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        btScalar maxDot(btScalar(-1e30));
 
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        btVector3 vec = vec0;
 
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        btScalar lenSqr = vec.length2();
 
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        if (lenSqr < btScalar(0.0001))
 
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        {
 
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                vec.setValue(1,0,0);
 
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        } else
 
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        {
 
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                btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
 
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                vec *= rlen;
 
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        }
 
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        btVector3 vtx;
 
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        btScalar newDot;
 
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        btScalar radius = getRadius();
 
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        {
 
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                btVector3 pos(0,getHalfHeight(),0);
 
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                vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
 
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                newDot = vec.dot(vtx);
 
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                if (newDot > maxDot)
 
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                {
 
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                        maxDot = newDot;
 
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                        supVec = vtx;
 
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                }
 
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        }
 
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        {
 
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                btVector3 pos(0,-getHalfHeight(),0);
 
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                vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
 
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                newDot = vec.dot(vtx);
 
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                if (newDot > maxDot)
 
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                {
 
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                        maxDot = newDot;
 
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                        supVec = vtx;
 
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                }
 
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        }
 
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        return supVec;
 
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}
 
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 void   btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 
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{
 
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        btScalar radius = getRadius();
 
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        for (int j=0;j<numVectors;j++)
 
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        {
 
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                btScalar maxDot(btScalar(-1e30));
 
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                const btVector3& vec = vectors[j];
 
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                btVector3 vtx;
 
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                btScalar newDot;
 
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                {
 
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                        btVector3 pos(0,getHalfHeight(),0);
 
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                        vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
 
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                        newDot = vec.dot(vtx);
 
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                        if (newDot > maxDot)
 
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                        {
 
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                                maxDot = newDot;
 
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                                supportVerticesOut[j] = vtx;
 
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                        }
 
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                }
 
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                {
 
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                        btVector3 pos(0,-getHalfHeight(),0);
 
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                        vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
 
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                        newDot = vec.dot(vtx);
 
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                        if (newDot > maxDot)
 
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                        {
 
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                                maxDot = newDot;
 
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                                supportVerticesOut[j] = vtx;
 
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                        }
 
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                }
 
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        }
 
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}
 
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void    btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
 
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{
 
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        //as an approximation, take the inertia of the box that bounds the spheres
 
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        btTransform ident;
 
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        ident.setIdentity();
 
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        btScalar radius = getRadius();
 
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        btVector3 halfExtents(radius,radius+getHalfHeight(),radius);
 
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        btScalar margin = CONVEX_DISTANCE_MARGIN;
 
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        btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
 
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        btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
 
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        btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
 
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        const btScalar x2 = lx*lx;
 
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        const btScalar y2 = ly*ly;
 
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        const btScalar z2 = lz*lz;
 
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        const btScalar scaledmass = mass * btScalar(.08333333);
 
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        inertia[0] = scaledmass * (y2+z2);
 
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        inertia[1] = scaledmass * (x2+z2);
 
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        inertia[2] = scaledmass * (x2+y2);
 
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}
 
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