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