| /* |
| 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/btUniformScalingShape.h" |
| |
| btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor): |
| btConvexShape (), m_childConvexShape(convexChildShape), |
| m_uniformScalingFactor(uniformScalingFactor) |
| { |
| m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE; |
| } |
| |
| btUniformScalingShape::~btUniformScalingShape() |
| { |
| } |
| |
| |
| btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
| { |
| btVector3 tmpVertex; |
| tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec); |
| return tmpVertex*m_uniformScalingFactor; |
| } |
| |
| void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
| { |
| m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors); |
| int i; |
| for (i=0;i<numVectors;i++) |
| { |
| supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor; |
| } |
| } |
| |
| |
| btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const |
| { |
| btVector3 tmpVertex; |
| tmpVertex = m_childConvexShape->localGetSupportingVertex(vec); |
| return tmpVertex*m_uniformScalingFactor; |
| } |
| |
| |
| void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| |
| ///this linear upscaling is not realistic, but we don't deal with large mass ratios... |
| btVector3 tmpInertia; |
| m_childConvexShape->calculateLocalInertia(mass,tmpInertia); |
| inertia = tmpInertia * m_uniformScalingFactor; |
| } |
| |
| |
| ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version |
| void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
| { |
| m_childConvexShape->getAabb(t,aabbMin,aabbMax); |
| btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); |
| btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; |
| |
| aabbMin = aabbCenter - scaledAabbHalfExtends; |
| aabbMax = aabbCenter + scaledAabbHalfExtends; |
| |
| } |
| |
| void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
| { |
| m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax); |
| btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); |
| btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; |
| |
| aabbMin = aabbCenter - scaledAabbHalfExtends; |
| aabbMax = aabbCenter + scaledAabbHalfExtends; |
| } |
| |
| void btUniformScalingShape::setLocalScaling(const btVector3& scaling) |
| { |
| m_childConvexShape->setLocalScaling(scaling); |
| } |
| |
| const btVector3& btUniformScalingShape::getLocalScaling() const |
| { |
| return m_childConvexShape->getLocalScaling(); |
| } |
| |
| void btUniformScalingShape::setMargin(btScalar margin) |
| { |
| m_childConvexShape->setMargin(margin); |
| } |
| btScalar btUniformScalingShape::getMargin() const |
| { |
| return m_childConvexShape->getMargin() * m_uniformScalingFactor; |
| } |
| |
| int btUniformScalingShape::getNumPreferredPenetrationDirections() const |
| { |
| return m_childConvexShape->getNumPreferredPenetrationDirections(); |
| } |
| |
| void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const |
| { |
| m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector); |
| } |