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source: code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp @ 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: 3.8 KB
RevLine 
[1963]1/*
2Bullet Continuous Collision Detection and Physics Library
[7983]3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
[1963]4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#include "btConvexInternalShape.h"
18
19
[2430]20
[1963]21btConvexInternalShape::btConvexInternalShape()
[2430]22: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
[1963]23m_collisionMargin(CONVEX_DISTANCE_MARGIN)
24{
25}
26
27
28void    btConvexInternalShape::setLocalScaling(const btVector3& scaling)
29{
30        m_localScaling = scaling.absolute();
31}
32
33
34
35void    btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
36{
[7983]37#ifndef __SPU__
38        //use localGetSupportingVertexWithoutMargin?
[1963]39        btScalar margin = getMargin();
40        for (int i=0;i<3;i++)
41        {
42                btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
43                vec[i] = btScalar(1.);
44
45                btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
46
47                btVector3 tmp = trans(sv);
48                maxAabb[i] = tmp[i]+margin;
49                vec[i] = btScalar(-1.);
50                tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
51                minAabb[i] = tmp[i]-margin;
52        }
[7983]53#endif
[2430]54}
[1963]55
56
[2430]57
[1963]58btVector3       btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
59{
60#ifndef __SPU__
61
62         btVector3      supVertex = localGetSupportingVertexWithoutMargin(vec);
63
64        if ( getMargin()!=btScalar(0.) )
65        {
66                btVector3 vecnorm = vec;
67                if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
68                {
69                        vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
70                } 
71                vecnorm.normalize();
72                supVertex+= getMargin() * vecnorm;
73        }
74        return supVertex;
75
76#else
[2430]77        btAssert(0);
[1963]78        return btVector3(0,0,0);
79#endif //__SPU__
80
81 }
82
83
[7983]84btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
85        :       btConvexInternalShape(),
86m_localAabbMin(1,1,1),
87m_localAabbMax(-1,-1,-1),
88m_isLocalAabbValid(false)
89{
90}
91
92
93void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
94{
95        getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
96}
97
98void    btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
99{
100        btConvexInternalShape::setLocalScaling(scaling);
101        recalcLocalAabb();
102}
103
104
105void    btConvexInternalAabbCachingShape::recalcLocalAabb()
106{
107        m_isLocalAabbValid = true;
108       
109        #if 1
110        static const btVector3 _directions[] =
111        {
112                btVector3( 1.,  0.,  0.),
113                btVector3( 0.,  1.,  0.),
114                btVector3( 0.,  0.,  1.),
115                btVector3( -1., 0.,  0.),
116                btVector3( 0., -1.,  0.),
117                btVector3( 0.,  0., -1.)
118        };
119       
120        btVector3 _supporting[] =
121        {
122                btVector3( 0., 0., 0.),
123                btVector3( 0., 0., 0.),
124                btVector3( 0., 0., 0.),
125                btVector3( 0., 0., 0.),
126                btVector3( 0., 0., 0.),
127                btVector3( 0., 0., 0.)
128        };
129       
130        batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
131       
132        for ( int i = 0; i < 3; ++i )
133        {
134                m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
135                m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
136        }
137       
138        #else
139
140        for (int i=0;i<3;i++)
141        {
142                btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
143                vec[i] = btScalar(1.);
144                btVector3 tmp = localGetSupportingVertex(vec);
145                m_localAabbMax[i] = tmp[i]+m_collisionMargin;
146                vec[i] = btScalar(-1.);
147                tmp = localGetSupportingVertex(vec);
148                m_localAabbMin[i] = tmp[i]-m_collisionMargin;
149        }
150        #endif
151}
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