| /* |
| 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 "BulletCollision/CollisionShapes/btStaticPlaneShape.h" |
| |
| #include "LinearMath/btTransformUtil.h" |
| |
| |
| btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant) |
| : btConcaveShape (), m_planeNormal(planeNormal.normalized()), |
| m_planeConstant(planeConstant), |
| m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.)) |
| { |
| m_shapeType = STATIC_PLANE_PROXYTYPE; |
| // btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) ); |
| } |
| |
| |
| btStaticPlaneShape::~btStaticPlaneShape() |
| { |
| } |
| |
| |
| |
| void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
| { |
| (void)t; |
| /* |
| btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); |
| |
| btVector3 center = m_planeNormal*m_planeConstant; |
| aabbMin = center + infvec*m_planeNormal; |
| aabbMax = aabbMin; |
| aabbMin.setMin(center - infvec*m_planeNormal); |
| aabbMax.setMax(center - infvec*m_planeNormal); |
| */ |
| |
| aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); |
| aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); |
| |
| } |
| |
| |
| |
| |
| void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const |
| { |
| |
| btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); |
| btScalar radius = halfExtents.length(); |
| btVector3 center = (aabbMax + aabbMin) * btScalar(0.5); |
| |
| //this is where the triangles are generated, given AABB and plane equation (normal/constant) |
| |
| btVector3 tangentDir0,tangentDir1; |
| |
| //tangentDir0/tangentDir1 can be precalculated |
| btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); |
| |
| btVector3 supVertex0,supVertex1; |
| |
| btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal; |
| |
| btVector3 triangle[3]; |
| triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius; |
| triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius; |
| triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius; |
| |
| callback->processTriangle(triangle,0,0); |
| |
| triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius; |
| triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius; |
| triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius; |
| |
| callback->processTriangle(triangle,0,1); |
| |
| } |
| |
| void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| (void)mass; |
| |
| //moving concave objects not supported |
| |
| inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); |
| } |
| |
| void btStaticPlaneShape::setLocalScaling(const btVector3& scaling) |
| { |
| m_localScaling = scaling; |
| } |
| const btVector3& btStaticPlaneShape::getLocalScaling() const |
| { |
| return m_localScaling; |
| } |