150 lines
4.8 KiB
C++
150 lines
4.8 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 "btUniformScalingShape.h"
|
|
|
|
btUniformScalingShape::btUniformScalingShape(btConvexShape* convexChildShape, btScalar uniformScalingFactor) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
|
|
{
|
|
m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
|
|
}
|
|
|
|
btUniformScalingShape::~btUniformScalingShape()
|
|
{
|
|
}
|
|
|
|
btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
|
|
{
|
|
btVector3 tmpVertex;
|
|
tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
|
|
return tmpVertex * m_uniformScalingFactor;
|
|
}
|
|
|
|
void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
|
|
{
|
|
m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
|
|
int i;
|
|
for (i = 0; i < numVectors; i++)
|
|
{
|
|
supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
|
|
}
|
|
}
|
|
|
|
btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec) const
|
|
{
|
|
btVector3 tmpVertex;
|
|
tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
|
|
return tmpVertex * m_uniformScalingFactor;
|
|
}
|
|
|
|
void btUniformScalingShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
|
|
{
|
|
///this linear upscaling is not realistic, but we don't deal with large mass ratios...
|
|
btVector3 tmpInertia;
|
|
m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
|
|
inertia = tmpInertia * m_uniformScalingFactor;
|
|
}
|
|
|
|
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
|
void btUniformScalingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
|
|
{
|
|
getAabbSlow(trans, aabbMin, aabbMax);
|
|
}
|
|
|
|
void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
|
|
{
|
|
#if 1
|
|
btVector3 _directions[] =
|
|
{
|
|
btVector3(1., 0., 0.),
|
|
btVector3(0., 1., 0.),
|
|
btVector3(0., 0., 1.),
|
|
btVector3(-1., 0., 0.),
|
|
btVector3(0., -1., 0.),
|
|
btVector3(0., 0., -1.)};
|
|
|
|
btVector3 _supporting[] =
|
|
{
|
|
btVector3(0., 0., 0.),
|
|
btVector3(0., 0., 0.),
|
|
btVector3(0., 0., 0.),
|
|
btVector3(0., 0., 0.),
|
|
btVector3(0., 0., 0.),
|
|
btVector3(0., 0., 0.)};
|
|
|
|
for (int i = 0; i < 6; i++)
|
|
{
|
|
_directions[i] = _directions[i] * t.getBasis();
|
|
}
|
|
|
|
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
|
|
|
|
btVector3 aabbMin1(0, 0, 0), aabbMax1(0, 0, 0);
|
|
|
|
for (int i = 0; i < 3; ++i)
|
|
{
|
|
aabbMax1[i] = t(_supporting[i])[i];
|
|
aabbMin1[i] = t(_supporting[i + 3])[i];
|
|
}
|
|
btVector3 marginVec(getMargin(), getMargin(), getMargin());
|
|
aabbMin = aabbMin1 - marginVec;
|
|
aabbMax = aabbMax1 + marginVec;
|
|
|
|
#else
|
|
|
|
btScalar margin = getMargin();
|
|
for (int i = 0; i < 3; i++)
|
|
{
|
|
btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
|
|
vec[i] = btScalar(1.);
|
|
btVector3 sv = localGetSupportingVertex(vec * t.getBasis());
|
|
btVector3 tmp = t(sv);
|
|
aabbMax[i] = tmp[i] + margin;
|
|
vec[i] = btScalar(-1.);
|
|
sv = localGetSupportingVertex(vec * t.getBasis());
|
|
tmp = t(sv);
|
|
aabbMin[i] = tmp[i] - margin;
|
|
}
|
|
|
|
#endif
|
|
}
|
|
|
|
void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
|
|
{
|
|
m_childConvexShape->setLocalScaling(scaling);
|
|
}
|
|
|
|
const btVector3& btUniformScalingShape::getLocalScaling() const
|
|
{
|
|
return m_childConvexShape->getLocalScaling();
|
|
}
|
|
|
|
void btUniformScalingShape::setMargin(btScalar margin)
|
|
{
|
|
m_childConvexShape->setMargin(margin);
|
|
}
|
|
btScalar btUniformScalingShape::getMargin() const
|
|
{
|
|
return m_childConvexShape->getMargin() * m_uniformScalingFactor;
|
|
}
|
|
|
|
int btUniformScalingShape::getNumPreferredPenetrationDirections() const
|
|
{
|
|
return m_childConvexShape->getNumPreferredPenetrationDirections();
|
|
}
|
|
|
|
void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
|
|
{
|
|
m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
|
|
}
|