| /* |
| 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/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 |
| } |