e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
|
|
#include "btMinkowskiSumShape.h"
|
|
|
|
|
|
btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
|
|
: btConvexInternalShape (),
|
|
m_shapeA(shapeA),
|
|
m_shapeB(shapeB)
|
|
{
|
|
m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
|
|
m_transA.setIdentity();
|
|
m_transB.setIdentity();
|
|
}
|
|
|
|
btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
|
|
{
|
|
btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
|
|
btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
|
|
return supVertexA - supVertexB;
|
|
}
|
|
|
|
void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
|
{
|
|
///@todo: could make recursive use of batching. probably this shape is not used frequently.
|
|
for (int i=0;i<numVectors;i++)
|
|
{
|
|
supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
btScalar btMinkowskiSumShape::getMargin() const
|
|
{
|
|
return m_shapeA->getMargin() + m_shapeB->getMargin();
|
|
}
|
|
|
|
|
|
void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
|
{
|
|
(void)mass;
|
|
//inertia of the AABB of the Minkowski sum
|
|
btTransform identity;
|
|
identity.setIdentity();
|
|
btVector3 aabbMin,aabbMax;
|
|
getAabb(identity,aabbMin,aabbMax);
|
|
|
|
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
|
|
|
|
btScalar margin = getMargin();
|
|
|
|
btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
|
|
btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
|
|
btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
|
|
const btScalar x2 = lx*lx;
|
|
const btScalar y2 = ly*ly;
|
|
const btScalar z2 = lz*lz;
|
|
const btScalar scaledmass = mass * btScalar(0.08333333);
|
|
|
|
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
|
|
}
|