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source: code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btBoxShape.h @ 8501

Last change on this file since 8501 was 7983, checked in by rgrieder, 14 years ago
Updated Bullet Physics Engine from v2.74 to v2.77
Property svn:eol-style set to `native`
File size: 8.2 KB

Rev	Line
[1963]	1	/*
	2	Bullet Continuous Collision Detection and Physics Library
[7983]	3	Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
[1963]	4
	5	This software is provided 'as-is', without any express or implied warranty.
	6	In no event will the authors be held liable for any damages arising from the use of this software.
	7	Permission is granted to anyone to use this software for any purpose,
	8	including commercial applications, and to alter it and redistribute it freely,
	9	subject to the following restrictions:
	10
	11	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.
	12	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
	13	3. This notice may not be removed or altered from any source distribution.
	14	*/
	15
	16	#ifndef OBB_BOX_MINKOWSKI_H
	17	#define OBB_BOX_MINKOWSKI_H
	18
	19	#include "btPolyhedralConvexShape.h"
	20	#include "btCollisionMargin.h"
	21	#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
[2430]	22	#include "LinearMath/btVector3.h"
[1963]	23	#include "LinearMath/btMinMax.h"
	24
	25	///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
	26	class btBoxShape: public btPolyhedralConvexShape
	27	{
	28
	29	//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
	30
	31
	32	public:
	33
	34	btVector3 getHalfExtentsWithMargin() const
	35	{
	36	btVector3 halfExtents = getHalfExtentsWithoutMargin();
	37	btVector3 margin(getMargin(),getMargin(),getMargin());
	38	halfExtents += margin;
	39	return halfExtents;
	40	}
	41
	42	const btVector3& getHalfExtentsWithoutMargin() const
	43	{
[7983]	44	return m_implicitShapeDimensions;//scaling is included, margin is not
[1963]	45	}
	46
	47
	48	virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
	49	{
	50	btVector3 halfExtents = getHalfExtentsWithoutMargin();
	51	btVector3 margin(getMargin(),getMargin(),getMargin());
	52	halfExtents += margin;
	53
	54	return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
	55	btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
	56	btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
	57	}
	58
	59	SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
	60	{
	61	const btVector3& halfExtents = getHalfExtentsWithoutMargin();
	62
	63	return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
	64	btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
	65	btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
	66	}
	67
	68	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
	69	{
	70	const btVector3& halfExtents = getHalfExtentsWithoutMargin();
	71
	72	for (int i=0;i<numVectors;i++)
	73	{
	74	const btVector3& vec = vectors[i];
	75	supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
	76	btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
	77	btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
	78	}
	79
	80	}
	81
	82
	83	btBoxShape( const btVector3& boxHalfExtents)
	84	: btPolyhedralConvexShape()
	85	{
	86	m_shapeType = BOX_SHAPE_PROXYTYPE;
	87	btVector3 margin(getMargin(),getMargin(),getMargin());
	88	m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
	89	};
	90
	91	virtual void setMargin(btScalar collisionMargin)
	92	{
	93	//correct the m_implicitShapeDimensions for the margin
	94	btVector3 oldMargin(getMargin(),getMargin(),getMargin());
	95	btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
	96
	97	btConvexInternalShape::setMargin(collisionMargin);
	98	btVector3 newMargin(getMargin(),getMargin(),getMargin());
	99	m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
	100
	101	}
	102	virtual void setLocalScaling(const btVector3& scaling)
	103	{
	104	btVector3 oldMargin(getMargin(),getMargin(),getMargin());
	105	btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
	106	btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
	107
	108	btConvexInternalShape::setLocalScaling(scaling);
	109
	110	m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
	111
	112	}
	113
	114	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
	115
	116
	117
	118	virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
	119
[2430]	120	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
[1963]	121	{
	122	//this plane might not be aligned...
	123	btVector4 plane ;
	124	getPlaneEquation(plane,i);
	125	planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
	126	planeSupport = localGetSupportingVertex(-planeNormal);
	127	}
	128
	129
	130	virtual int getNumPlanes() const
	131	{
	132	return 6;
	133	}
	134
	135	virtual int getNumVertices() const
	136	{
	137	return 8;
	138	}
	139
	140	virtual int getNumEdges() const
	141	{
	142	return 12;
	143	}
	144
	145
	146	virtual void getVertex(int i,btVector3& vtx) const
	147	{
	148	btVector3 halfExtents = getHalfExtentsWithoutMargin();
	149
	150	vtx = btVector3(
	151	halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
	152	halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
	153	halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
	154	}
	155
	156
	157	virtual void getPlaneEquation(btVector4& plane,int i) const
	158	{
	159	btVector3 halfExtents = getHalfExtentsWithoutMargin();
	160
	161	switch (i)
	162	{
	163	case 0:
[2882]	164	plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
[1963]	165	break;
	166	case 1:
[2882]	167	plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
[1963]	168	break;
	169	case 2:
[2882]	170	plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
[1963]	171	break;
	172	case 3:
[2882]	173	plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
[1963]	174	break;
	175	case 4:
[2882]	176	plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
[1963]	177	break;
	178	case 5:
[2882]	179	plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
[1963]	180	break;
	181	default:
[2882]	182	btAssert(0);
[1963]	183	}
	184	}
	185
	186
[2430]	187	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
[1963]	188	//virtual void getEdge(int i,Edge& edge) const
	189	{
	190	int edgeVert0 = 0;
	191	int edgeVert1 = 0;
	192
	193	switch (i)
	194	{
	195	case 0:
	196	edgeVert0 = 0;
	197	edgeVert1 = 1;
	198	break;
	199	case 1:
	200	edgeVert0 = 0;
	201	edgeVert1 = 2;
	202	break;
	203	case 2:
	204	edgeVert0 = 1;
	205	edgeVert1 = 3;
	206
	207	break;
	208	case 3:
	209	edgeVert0 = 2;
	210	edgeVert1 = 3;
	211	break;
	212	case 4:
	213	edgeVert0 = 0;
	214	edgeVert1 = 4;
	215	break;
	216	case 5:
	217	edgeVert0 = 1;
	218	edgeVert1 = 5;
	219
	220	break;
	221	case 6:
	222	edgeVert0 = 2;
	223	edgeVert1 = 6;
	224	break;
	225	case 7:
	226	edgeVert0 = 3;
	227	edgeVert1 = 7;
	228	break;
	229	case 8:
	230	edgeVert0 = 4;
	231	edgeVert1 = 5;
	232	break;
	233	case 9:
	234	edgeVert0 = 4;
	235	edgeVert1 = 6;
	236	break;
	237	case 10:
	238	edgeVert0 = 5;
	239	edgeVert1 = 7;
	240	break;
	241	case 11:
	242	edgeVert0 = 6;
	243	edgeVert1 = 7;
	244	break;
	245	default:
	246	btAssert(0);
	247
	248	}
	249
	250	getVertex(edgeVert0,pa );
	251	getVertex(edgeVert1,pb );
	252	}
	253
	254
	255
	256
	257
[2430]	258	virtual bool isInside(const btVector3& pt,btScalar tolerance) const
[1963]	259	{
	260	btVector3 halfExtents = getHalfExtentsWithoutMargin();
	261
	262	//btScalar minDist = 2*tolerance;
	263
	264	bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
	265	(pt.x() >= (-halfExtents.x()-tolerance)) &&
	266	(pt.y() <= (halfExtents.y()+tolerance)) &&
	267	(pt.y() >= (-halfExtents.y()-tolerance)) &&
	268	(pt.z() <= (halfExtents.z()+tolerance)) &&
	269	(pt.z() >= (-halfExtents.z()-tolerance));
	270
	271	return result;
	272	}
	273
	274
	275	//debugging
	276	virtual const char* getName()const
	277	{
	278	return "Box";
	279	}
	280
	281	virtual int getNumPreferredPenetrationDirections() const
	282	{
	283	return 6;
	284	}
	285
	286	virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
	287	{
	288	switch (index)
	289	{
	290	case 0:
	291	penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
	292	break;
	293	case 1:
	294	penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
	295	break;
	296	case 2:
	297	penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
	298	break;
	299	case 3:
	300	penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
	301	break;
	302	case 4:
	303	penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
	304	break;
	305	case 5:
	306	penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
	307	break;
	308	default:
[2882]	309	btAssert(0);
[1963]	310	}
	311	}
	312
	313	};
	314
[7983]	315
[1963]	316	#endif //OBB_BOX_MINKOWSKI_H
	317
	318

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