458 lines
13 KiB
C++
458 lines
13 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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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#if defined(_WIN32) || defined(__i386__)
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#define BT_USE_SSE_IN_API
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#endif
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#include "btConvexShape.h"
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#include "btTriangleShape.h"
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#include "btSphereShape.h"
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#include "btCylinderShape.h"
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#include "btConeShape.h"
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#include "btCapsuleShape.h"
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#include "btConvexHullShape.h"
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#include "btConvexPointCloudShape.h"
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///not supported on IBM SDK, until we fix the alignment of btVector3
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#if defined(__CELLOS_LV2__) && defined(__SPU__)
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#include <spu_intrinsics.h>
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static inline vec_float4 vec_dot3(vec_float4 vec0, vec_float4 vec1)
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{
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vec_float4 result;
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result = spu_mul(vec0, vec1);
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result = spu_madd(spu_rlqwbyte(vec0, 4), spu_rlqwbyte(vec1, 4), result);
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return spu_madd(spu_rlqwbyte(vec0, 8), spu_rlqwbyte(vec1, 8), result);
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}
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#endif //__SPU__
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btConvexShape::btConvexShape()
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{
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}
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btConvexShape::~btConvexShape()
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{
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}
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void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin, btVector3& witnesPtMax) const
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{
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btVector3 localAxis = dir * trans.getBasis();
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btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
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btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
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min = vtx1.dot(dir);
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max = vtx2.dot(dir);
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witnesPtMax = vtx2;
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witnesPtMin = vtx1;
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if (min > max)
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{
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btScalar tmp = min;
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min = max;
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max = tmp;
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witnesPtMax = vtx1;
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witnesPtMin = vtx2;
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}
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}
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static btVector3 convexHullSupport(const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
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{
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btVector3 vec = localDirOrg * localScaling;
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#if defined(__CELLOS_LV2__) && defined(__SPU__)
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btVector3 localDir = vec;
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vec_float4 v_distMax = {-FLT_MAX, 0, 0, 0};
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vec_int4 v_idxMax = {-999, 0, 0, 0};
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int v = 0;
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int numverts = numPoints;
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for (; v < (int)numverts - 4; v += 4)
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{
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vec_float4 p0 = vec_dot3(points[v].get128(), localDir.get128());
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vec_float4 p1 = vec_dot3(points[v + 1].get128(), localDir.get128());
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vec_float4 p2 = vec_dot3(points[v + 2].get128(), localDir.get128());
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vec_float4 p3 = vec_dot3(points[v + 3].get128(), localDir.get128());
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const vec_int4 i0 = {v, 0, 0, 0};
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const vec_int4 i1 = {v + 1, 0, 0, 0};
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const vec_int4 i2 = {v + 2, 0, 0, 0};
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const vec_int4 i3 = {v + 3, 0, 0, 0};
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vec_uint4 retGt01 = spu_cmpgt(p0, p1);
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vec_float4 pmax01 = spu_sel(p1, p0, retGt01);
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vec_int4 imax01 = spu_sel(i1, i0, retGt01);
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vec_uint4 retGt23 = spu_cmpgt(p2, p3);
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vec_float4 pmax23 = spu_sel(p3, p2, retGt23);
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vec_int4 imax23 = spu_sel(i3, i2, retGt23);
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vec_uint4 retGt0123 = spu_cmpgt(pmax01, pmax23);
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vec_float4 pmax0123 = spu_sel(pmax23, pmax01, retGt0123);
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vec_int4 imax0123 = spu_sel(imax23, imax01, retGt0123);
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vec_uint4 retGtMax = spu_cmpgt(v_distMax, pmax0123);
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v_distMax = spu_sel(pmax0123, v_distMax, retGtMax);
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v_idxMax = spu_sel(imax0123, v_idxMax, retGtMax);
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}
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for (; v < (int)numverts; v++)
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{
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vec_float4 p = vec_dot3(points[v].get128(), localDir.get128());
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const vec_int4 i = {v, 0, 0, 0};
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vec_uint4 retGtMax = spu_cmpgt(v_distMax, p);
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v_distMax = spu_sel(p, v_distMax, retGtMax);
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v_idxMax = spu_sel(i, v_idxMax, retGtMax);
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}
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int ptIndex = spu_extract(v_idxMax, 0);
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const btVector3& supVec = points[ptIndex] * localScaling;
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return supVec;
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#else
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btScalar maxDot;
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long ptIndex = vec.maxDot(points, numPoints, maxDot);
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btAssert(ptIndex >= 0);
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if (ptIndex < 0)
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{
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ptIndex = 0;
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}
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btVector3 supVec = points[ptIndex] * localScaling;
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return supVec;
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#endif //__SPU__
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}
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btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual(const btVector3& localDir) const
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{
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switch (m_shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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return btVector3(0, 0, 0);
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* convexShape = (btBoxShape*)this;
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const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
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#if defined(__APPLE__) && (defined(BT_USE_SSE) || defined(BT_USE_NEON))
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#if defined(BT_USE_SSE)
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return btVector3(_mm_xor_ps(_mm_and_ps(localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f}), halfExtents.mVec128));
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#elif defined(BT_USE_NEON)
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return btVector3((float32x4_t)(((uint32x4_t)localDir.mVec128 & (uint32x4_t){0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t)halfExtents.mVec128));
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#else
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#error unknown vector arch
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#endif
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#else
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return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
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#endif
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btTriangleShape* triangleShape = (btTriangleShape*)this;
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btVector3 dir(localDir.getX(), localDir.getY(), localDir.getZ());
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btVector3* vertices = &triangleShape->m_vertices1[0];
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btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
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btVector3 sup = vertices[dots.maxAxis()];
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return btVector3(sup.getX(), sup.getY(), sup.getZ());
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShape* cylShape = (btCylinderShape*)this;
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//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
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btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
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btVector3 v(localDir.getX(), localDir.getY(), localDir.getZ());
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int cylinderUpAxis = cylShape->getUpAxis();
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int XX(1), YY(0), ZZ(2);
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switch (cylinderUpAxis)
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{
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case 0:
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{
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XX = 1;
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YY = 0;
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ZZ = 2;
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}
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break;
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case 1:
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{
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XX = 0;
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YY = 1;
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ZZ = 2;
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}
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break;
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case 2:
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{
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XX = 0;
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YY = 2;
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ZZ = 1;
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}
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break;
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default:
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btAssert(0);
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break;
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};
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btScalar radius = halfExtents[XX];
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btScalar halfHeight = halfExtents[cylinderUpAxis];
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btVector3 tmp;
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btScalar d;
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btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
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if (s != btScalar(0.0))
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{
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d = radius / s;
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tmp[XX] = v[XX] * d;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = v[ZZ] * d;
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return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
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}
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else
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{
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tmp[XX] = radius;
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tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
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tmp[ZZ] = btScalar(0.0);
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return btVector3(tmp.getX(), tmp.getY(), tmp.getZ());
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}
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btVector3 vec0(localDir.getX(), localDir.getY(), localDir.getZ());
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btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
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btScalar halfHeight = capsuleShape->getHalfHeight();
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int capsuleUpAxis = capsuleShape->getUpAxis();
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btVector3 supVec(0, 0, 0);
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btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < SIMD_EPSILON * SIMD_EPSILON)
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{
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vec.setValue(1, 0, 0);
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}
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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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{
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btVector3 pos(0, 0, 0);
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pos[capsuleUpAxis] = halfHeight;
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vtx = pos;
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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, 0, 0);
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pos[capsuleUpAxis] = -halfHeight;
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vtx = pos;
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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 btVector3(supVec.getX(), supVec.getY(), supVec.getZ());
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}
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case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
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{
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btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
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btVector3* points = convexPointCloudShape->getUnscaledPoints();
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int numPoints = convexPointCloudShape->getNumPoints();
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return convexHullSupport(localDir, points, numPoints, convexPointCloudShape->getLocalScalingNV());
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
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btVector3* points = convexHullShape->getUnscaledPoints();
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int numPoints = convexHullShape->getNumPoints();
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return convexHullSupport(localDir, points, numPoints, convexHullShape->getLocalScalingNV());
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}
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default:
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#ifndef __SPU__
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return this->localGetSupportingVertexWithoutMargin(localDir);
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#else
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btAssert(0);
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#endif
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}
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// should never reach here
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btAssert(0);
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return btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
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}
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btVector3 btConvexShape::localGetSupportVertexNonVirtual(const btVector3& localDir) const
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{
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btVector3 localDirNorm = localDir;
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if (localDirNorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
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{
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localDirNorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
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}
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localDirNorm.normalize();
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return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm) + getMarginNonVirtual() * localDirNorm;
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}
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/* TODO: This should be bumped up to btCollisionShape () */
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btScalar btConvexShape::getMarginNonVirtual() const
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{
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switch (m_shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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btSphereShape* sphereShape = (btSphereShape*)this;
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return sphereShape->getRadius();
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* convexShape = (btBoxShape*)this;
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return convexShape->getMarginNV();
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btTriangleShape* triangleShape = (btTriangleShape*)this;
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return triangleShape->getMarginNV();
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShape* cylShape = (btCylinderShape*)this;
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return cylShape->getMarginNV();
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}
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case CONE_SHAPE_PROXYTYPE:
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{
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btConeShape* conShape = (btConeShape*)this;
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return conShape->getMarginNV();
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
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return capsuleShape->getMarginNV();
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}
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case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
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/* fall through */
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
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return convexHullShape->getMarginNV();
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}
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default:
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#ifndef __SPU__
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return this->getMargin();
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#else
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btAssert(0);
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#endif
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}
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// should never reach here
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btAssert(0);
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return btScalar(0.0f);
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}
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#ifndef __SPU__
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void btConvexShape::getAabbNonVirtual(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
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{
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switch (m_shapeType)
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{
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case SPHERE_SHAPE_PROXYTYPE:
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{
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btSphereShape* sphereShape = (btSphereShape*)this;
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btScalar radius = sphereShape->getImplicitShapeDimensions().getX(); // * convexShape->getLocalScaling().getX();
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btScalar margin = radius + sphereShape->getMarginNonVirtual();
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const btVector3& center = t.getOrigin();
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btVector3 extent(margin, margin, margin);
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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break;
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case CYLINDER_SHAPE_PROXYTYPE:
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/* fall through */
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* convexShape = (btBoxShape*)this;
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btScalar margin = convexShape->getMarginNonVirtual();
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btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
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halfExtents += btVector3(margin, margin, margin);
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
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aabbMin = center - extent;
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aabbMax = center + extent;
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break;
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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{
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btTriangleShape* triangleShape = (btTriangleShape*)this;
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btScalar margin = triangleShape->getMarginNonVirtual();
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for (int i = 0; i < 3; i++)
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{
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btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
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vec[i] = btScalar(1.);
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btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis());
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btVector3 tmp = t(sv);
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aabbMax[i] = tmp[i] + margin;
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vec[i] = btScalar(-1.);
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tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec * t.getBasis()));
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aabbMin[i] = tmp[i] - margin;
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}
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}
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break;
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
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btVector3 halfExtents(capsuleShape->getRadius(), capsuleShape->getRadius(), capsuleShape->getRadius());
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int m_upAxis = capsuleShape->getUpAxis();
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halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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break;
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case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
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btScalar margin = convexHullShape->getMarginNonVirtual();
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convexHullShape->getNonvirtualAabb(t, aabbMin, aabbMax, margin);
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}
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break;
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default:
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#ifndef __SPU__
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this->getAabb(t, aabbMin, aabbMax);
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#else
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btAssert(0);
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#endif
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break;
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}
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// should never reach here
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btAssert(0);
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}
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#endif //__SPU__
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