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3rdparty: bullet3: remove getters/setters from btCollisionShape
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Part-of: crownengine#259
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@dbartolini
dbartolini committed Jan 31, 2025
1 parent d00997f commit a9951a5
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Showing 10 changed files with 43 additions and 78 deletions.
4 changes: 2 additions & 2 deletions 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,11 +134,11 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObje
btCollisionAlgorithm* algo = 0;
if (algoType == BT_CONTACT_POINT_ALGORITHMS)
{
algo = m_doubleDispatchContactPoints[body0Wrap->m_collisionShape->getShapeType()][body1Wrap->m_collisionShape->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
algo = m_doubleDispatchContactPoints[body0Wrap->m_collisionShape->m_shapeType][body1Wrap->m_collisionShape->m_shapeType]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
}
else
{
algo = m_doubleDispatchClosestPoints[body0Wrap->m_collisionShape->getShapeType()][body1Wrap->m_collisionShape->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
algo = m_doubleDispatchClosestPoints[body0Wrap->m_collisionShape->m_shapeType][body1Wrap->m_collisionShape->m_shapeType]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
}

return algo;
Expand Down
20 changes: 10 additions & 10 deletions 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ void btCollisionWorld::refreshBroadphaseProxy(btCollisionObject* collisionObject
btVector3 maxAabb;
collisionObject->m_collisionShape->getAabb(trans, minAabb, maxAabb);

int type = collisionObject->m_collisionShape->getShapeType();
int type = collisionObject->m_collisionShape->m_shapeType;
collisionObject->m_broadphaseHandle = (getBroadphase()->createProxy(
minAabb,
maxAabb,
Expand Down Expand Up @@ -139,7 +139,7 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, in
btVector3 maxAabb;
collisionObject->m_collisionShape->getAabb(trans, minAabb, maxAabb);

int type = collisionObject->m_collisionShape->getShapeType();
int type = collisionObject->m_collisionShape->m_shapeType;
collisionObject->m_broadphaseHandle = (getBroadphase()->createProxy(
minAabb,
maxAabb,
Expand Down Expand Up @@ -388,7 +388,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.m_origin;

// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
if (collisionShape->m_shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
Expand All @@ -397,7 +397,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb, rayFromLocal, rayToLocal);
}
else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
else if (collisionShape->m_shapeType == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btScaledBvhTriangleMeshShape
btScaledBvhTriangleMeshShape* scaledTriangleMesh = (btScaledBvhTriangleMeshShape*)collisionShape;
Expand All @@ -414,7 +414,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
}
else if (((resultCallback.m_flags&btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator)==0)
&& collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE
&& collisionShape->m_shapeType == TERRAIN_SHAPE_PROXYTYPE
)
{
///optimized version for btHeightfieldTerrainShape
Expand Down Expand Up @@ -657,7 +657,7 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
{
if (collisionShape->isConcave())
{
if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
if (collisionShape->m_shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
//BT_PROFILE("convexSweepbtBvhTriangleMesh");
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
Expand Down Expand Up @@ -712,7 +712,7 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
}
else
{
if (collisionShape->getShapeType() == STATIC_PLANE_PROXYTYPE)
if (collisionShape->m_shapeType == STATIC_PLANE_PROXYTYPE)
{
btConvexCast::CastResult castResult;
castResult.m_allowedPenetration = allowedPenetration;
Expand Down Expand Up @@ -1305,7 +1305,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
getDebugDrawer()->drawTransform(worldTransform, .1);
}

if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
if (shape->m_shapeType == COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i = compoundShape->getNumChildShapes() - 1; i >= 0; i--)
Expand All @@ -1317,7 +1317,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
}
else
{
switch (shape->getShapeType())
switch (shape->m_shapeType)
{
case BOX_SHAPE_PROXYTYPE:
{
Expand Down Expand Up @@ -1449,7 +1449,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
concaveMesh->processAllTriangles(&drawCallback, aabbMin, aabbMax);
}

if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
if (shape->m_shapeType == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*)shape;
//todo: pass camera for some culling
Expand Down
6 changes: 3 additions & 3 deletions 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -227,7 +227,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision(const btCollisionObject

if (triBodyWrap->m_collisionShape->isConcave())
{
if (triBodyWrap->m_collisionShape->getShapeType() == SDF_SHAPE_PROXYTYPE)
if (triBodyWrap->m_collisionShape->m_shapeType == SDF_SHAPE_PROXYTYPE)
{
btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->m_collisionShape;
if (convexBodyWrap->m_collisionShape->isConvex())
Expand All @@ -247,7 +247,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision(const btCollisionObject
}
btScalar maxDist = SIMD_EPSILON;

if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
if (convex->m_shapeType == SPHERE_SHAPE_PROXYTYPE)
{
queryVertices.push_back(btVector3(0, 0, 0));
btSphereShape* sphere = (btSphereShape*)convex;
Expand All @@ -274,7 +274,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision(const btCollisionObject
normalLocal.safeNormalize();
btVector3 normal = triBodyWrap->m_worldTransform.m_basis * normalLocal;

if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
if (convex->m_shapeType == SPHERE_SHAPE_PROXYTYPE)
{
btSphereShape* sphere = (btSphereShape*)convex;
dist -= sphere->getRadius();
Expand Down
12 changes: 6 additions & 6 deletions 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -289,7 +289,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
btVector3 normalOnB;
btVector3 pointOnBWorld;
#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
if ((min0->m_shapeType == CAPSULE_SHAPE_PROXYTYPE) && (min1->m_shapeType == CAPSULE_SHAPE_PROXYTYPE))
{
//m_manifoldPtr->clearManifold();

Expand All @@ -311,7 +311,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
return;
}

if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == SPHERE_SHAPE_PROXYTYPE))
if ((min0->m_shapeType == CAPSULE_SHAPE_PROXYTYPE) && (min1->m_shapeType == SPHERE_SHAPE_PROXYTYPE))
{
//m_manifoldPtr->clearManifold();

Expand All @@ -333,7 +333,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
return;
}

if ((min0->getShapeType() == SPHERE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
if ((min0->m_shapeType == SPHERE_SHAPE_PROXYTYPE) && (min1->m_shapeType == CAPSULE_SHAPE_PROXYTYPE))
{
//m_manifoldPtr->clearManifold();

Expand Down Expand Up @@ -471,8 +471,8 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*

///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it

btScalar min0Margin = min0->getShapeType() == BOX_SHAPE_PROXYTYPE ? 0.f : min0->getMargin();
btScalar min1Margin = min1->getShapeType() == BOX_SHAPE_PROXYTYPE ? 0.f : min1->getMargin();
btScalar min0Margin = min0->m_shapeType == BOX_SHAPE_PROXYTYPE ? 0.f : min0->getMargin();
btScalar min1Margin = min1->m_shapeType == BOX_SHAPE_PROXYTYPE ? 0.f : min1->getMargin();

btWithoutMarginResult withoutMargin(resultOut, min0Margin, min1Margin);

Expand Down Expand Up @@ -537,7 +537,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
else
{
//we can also deal with convex versus triangle (without connectivity data)
if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() && polyhedronB->m_shapeType == TRIANGLE_SHAPE_PROXYTYPE)
{
btVertexArray worldSpaceVertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
Expand Down
10 changes: 5 additions & 5 deletions 3rdparty/bullet3/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -485,14 +485,14 @@ bool btClampNormal(const btVector3& edge, const btVector3& tri_normal_org, const
/// Changes a btManifoldPoint collision normal to the normal from the mesh.
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
{
//btAssert(colObj0->m_collisionShape->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0Wrap->m_collisionShape->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
//btAssert(colObj0->m_collisionShape->m_shapeType == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0Wrap->m_collisionShape->m_shapeType != TRIANGLE_SHAPE_PROXYTYPE)
return;


btTriangleInfoMap* triangleInfoMapPtr = 0;

if (colObj0Wrap->m_collisionObject->m_collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
if (colObj0Wrap->m_collisionObject->m_collisionShape->m_shapeType == TERRAIN_SHAPE_PROXYTYPE)
{
btHeightfieldTerrainShape* heightfield = (btHeightfieldTerrainShape*)colObj0Wrap->m_collisionObject->m_collisionShape;
triangleInfoMapPtr = heightfield->getTriangleInfoMap();
Expand All @@ -517,13 +517,13 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr

btBvhTriangleMeshShape* trimesh = 0;

if (colObj0Wrap->m_collisionObject->m_collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
if (colObj0Wrap->m_collisionObject->m_collisionShape->m_shapeType == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->m_collisionObject->m_collisionShape)->getChildShape();
}
else
{
if (colObj0Wrap->m_collisionObject->m_collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
if (colObj0Wrap->m_collisionObject->m_collisionShape->m_shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->m_collisionObject->m_collisionShape;
}
Expand Down
53 changes: 9 additions & 44 deletions 3rdparty/bullet3/src/BulletCollision/CollisionShapes/btCollisionShape.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ class btSerializer;
ATTRIBUTE_ALIGNED16(class)
btCollisionShape
{
protected:
public:
int m_shapeType;
void* m_userPointer;
int m_userIndex;
Expand Down Expand Up @@ -59,40 +59,40 @@ btCollisionShape

SIMD_FORCE_INLINE bool isPolyhedral() const
{
return btBroadphaseProxy::isPolyhedral(getShapeType());
return btBroadphaseProxy::isPolyhedral(m_shapeType);
}

SIMD_FORCE_INLINE bool isConvex2d() const
{
return btBroadphaseProxy::isConvex2d(getShapeType());
return btBroadphaseProxy::isConvex2d(m_shapeType);
}

SIMD_FORCE_INLINE bool isConvex() const
{
return btBroadphaseProxy::isConvex(getShapeType());
return btBroadphaseProxy::isConvex(m_shapeType);
}
SIMD_FORCE_INLINE bool isNonMoving() const
{
return btBroadphaseProxy::isNonMoving(getShapeType());
return btBroadphaseProxy::isNonMoving(m_shapeType);
}
SIMD_FORCE_INLINE bool isConcave() const
{
return btBroadphaseProxy::isConcave(getShapeType());
return btBroadphaseProxy::isConcave(m_shapeType);
}
SIMD_FORCE_INLINE bool isCompound() const
{
return btBroadphaseProxy::isCompound(getShapeType());
return btBroadphaseProxy::isCompound(m_shapeType);
}

SIMD_FORCE_INLINE bool isSoftBody() const
{
return btBroadphaseProxy::isSoftBody(getShapeType());
return btBroadphaseProxy::isSoftBody(m_shapeType);
}

///isInfinite is used to catch simulation error (aabb check)
SIMD_FORCE_INLINE bool isInfinite() const
{
return btBroadphaseProxy::isInfinite(getShapeType());
return btBroadphaseProxy::isInfinite(m_shapeType);
}

#ifndef __SPU__
Expand All @@ -104,11 +104,6 @@ btCollisionShape
virtual const char* getName() const = 0;
#endif //__SPU__

int getShapeType() const
{
return m_shapeType;
}

///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction
///See Bullet/Demos/RollingFrictionDemo for an example
virtual btVector3 getAnisotropicRollingFrictionDirection() const
Expand All @@ -118,36 +113,6 @@ btCollisionShape
virtual void setMargin(btScalar margin) = 0;
virtual btScalar getMargin() const = 0;

///optional user data pointer
void setUserPointer(void* userPtr)
{
m_userPointer = userPtr;
}

void* getUserPointer() const
{
return m_userPointer;
}
void setUserIndex(int index)
{
m_userIndex = index;
}

int getUserIndex() const
{
return m_userIndex;
}

void setUserIndex2(int index)
{
m_userIndex2 = index;
}

int getUserIndex2() const
{
return m_userIndex2;
}

virtual int calculateSerializeBufferSize() const;

///fills the dataBuffer and returns the struct name (and 0 on failure)
Expand Down
2 changes: 1 addition & 1 deletion 3rdparty/bullet3/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ void btCompoundShape::addChildShape(const btTransform& localTransform, btCollisi
child.m_node = 0;
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape->getShapeType();
child.m_childShapeType = shape->m_shapeType;
child.m_childMargin = shape->getMargin();

//extend the local aabbMin/aabbMax
Expand Down
2 changes: 1 addition & 1 deletion 3rdparty/bullet3/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ void btContinuousConvexCollision::computeClosestPoints(const btTransform& transA
if (m_convexB1)
{
m_simplexSolver->reset();
btGjkPairDetector gjk(m_convexA, m_convexB1, m_convexA->getShapeType(), m_convexB1->getShapeType(), m_convexA->getMargin(), m_convexB1->getMargin(), m_simplexSolver, m_penetrationDepthSolver);
btGjkPairDetector gjk(m_convexA, m_convexB1, m_convexA->m_shapeType, m_convexB1->m_shapeType, m_convexA->getMargin(), m_convexB1->getMargin(), m_simplexSolver, m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = transA;
input.m_transformB = transB;
Expand Down
8 changes: 4 additions & 4 deletions 3rdparty/bullet3/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,8 +43,8 @@ btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConve
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
m_minkowskiB(objectB),
m_shapeTypeA(objectA->getShapeType()),
m_shapeTypeB(objectB->getShapeType()),
m_shapeTypeA(objectA->m_shapeType),
m_shapeTypeB(objectB->m_shapeType),
m_marginA(objectA->getMargin()),
m_marginB(objectB->getMargin()),
m_ignoreMargin(false),
Expand Down Expand Up @@ -949,8 +949,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
m_cachedSeparatingAxis.m_floats[1],
m_cachedSeparatingAxis.m_floats[2],
squaredDistance,
m_minkowskiA->getShapeType(),
m_minkowskiB->getShapeType());
m_minkowskiA->m_shapeType,
m_minkowskiB->m_shapeType);

#endif
break;
Expand Down
4 changes: 2 additions & 2 deletions 3rdparty/bullet3/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle, int partId
btAssert(tm);

//copy over user pointers to temporary shape
tm->setUserPointer(m_triBody->m_collisionShape->getUserPointer());
tm->m_userPointer = (m_triBody->m_collisionShape->m_userPointer);

btCollisionObjectWrapper softBody(0, m_softBody->m_collisionShape, m_softBody, m_softBody->m_worldTransform, -1, -1);
//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->m_worldTransform);//??
Expand Down Expand Up @@ -146,7 +146,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle, int partId
// tm.setMargin(m_collisionMarginTriangle);

//copy over user pointers to temporary shape
tm->setUserPointer(m_triBody->m_collisionShape->getUserPointer());
tm->m_userPointer = (m_triBody->m_collisionShape->m_userPointer);

btCollisionObjectWrapper softBody(0, m_softBody->m_collisionShape, m_softBody, m_softBody->m_worldTransform, -1, -1);
btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->m_worldTransform, partId, triangleIndex); //btTransform::getIdentity());//??
Expand Down

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