137 lines
3.9 KiB
C++
137 lines
3.9 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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#include "btConvexInternalShape.h"
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btConvexInternalShape::btConvexInternalShape()
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: m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)),
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m_collisionMargin(CONVEX_DISTANCE_MARGIN)
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{
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}
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void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling.absolute();
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}
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void btConvexInternalShape::getAabbSlow(const btTransform& trans, btVector3& minAabb, btVector3& maxAabb) const
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{
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#ifndef __SPU__
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//use localGetSupportingVertexWithoutMargin?
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btScalar margin = getMargin();
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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 = localGetSupportingVertex(vec * trans.getBasis());
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btVector3 tmp = trans(sv);
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maxAabb[i] = tmp[i] + margin;
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vec[i] = btScalar(-1.);
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tmp = trans(localGetSupportingVertex(vec * trans.getBasis()));
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minAabb[i] = tmp[i] - margin;
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}
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#endif
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}
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btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec) const
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{
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#ifndef __SPU__
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btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
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if (getMargin() != btScalar(0.))
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{
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btVector3 vecnorm = vec;
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if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
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{
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vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
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}
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vecnorm.normalize();
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supVertex += getMargin() * vecnorm;
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}
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return supVertex;
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#else
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btAssert(0);
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return btVector3(0, 0, 0);
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#endif //__SPU__
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}
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btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
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: btConvexInternalShape(),
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m_localAabbMin(1, 1, 1),
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m_localAabbMax(-1, -1, -1),
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m_isLocalAabbValid(false)
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{
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}
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void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
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{
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getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
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}
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void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
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{
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btConvexInternalShape::setLocalScaling(scaling);
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recalcLocalAabb();
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}
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void btConvexInternalAabbCachingShape::recalcLocalAabb()
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{
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m_isLocalAabbValid = true;
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#if 1
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static const btVector3 _directions[] =
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{
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btVector3(1., 0., 0.),
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btVector3(0., 1., 0.),
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btVector3(0., 0., 1.),
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btVector3(-1., 0., 0.),
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btVector3(0., -1., 0.),
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btVector3(0., 0., -1.)};
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btVector3 _supporting[] =
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{
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btVector3(0., 0., 0.),
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btVector3(0., 0., 0.),
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btVector3(0., 0., 0.),
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btVector3(0., 0., 0.),
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btVector3(0., 0., 0.),
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btVector3(0., 0., 0.)};
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batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
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for (int i = 0; i < 3; ++i)
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{
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m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
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m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
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}
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#else
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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 tmp = localGetSupportingVertex(vec);
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m_localAabbMax[i] = tmp[i] + m_collisionMargin;
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vec[i] = btScalar(-1.);
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tmp = localGetSupportingVertex(vec);
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m_localAabbMin[i] = tmp[i] - m_collisionMargin;
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}
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#endif
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}
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