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