151 lines
4.8 KiB
C++
151 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) : btConvexShape(), m_childConvexShape(convexChildShape), 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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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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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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