[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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[7983] | 3 | Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
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[1963] | 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" |
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| 17 | |
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[7983] | 18 | btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape() |
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[1963] | 19 | { |
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| 20 | |
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| 21 | } |
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| 22 | |
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| 23 | |
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| 24 | btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const |
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| 25 | { |
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[7983] | 26 | |
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| 27 | |
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| 28 | btVector3 supVec(0,0,0); |
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| 29 | #ifndef __SPU__ |
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[1963] | 30 | int i; |
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[7983] | 31 | btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); |
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[1963] | 32 | |
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| 33 | btVector3 vec = vec0; |
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| 34 | btScalar lenSqr = vec.length2(); |
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| 35 | if (lenSqr < btScalar(0.0001)) |
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| 36 | { |
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| 37 | vec.setValue(1,0,0); |
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| 38 | } else |
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| 39 | { |
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| 40 | btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); |
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| 41 | vec *= rlen; |
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| 42 | } |
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| 43 | |
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| 44 | btVector3 vtx; |
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| 45 | btScalar newDot; |
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| 46 | |
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| 47 | for (i=0;i<getNumVertices();i++) |
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| 48 | { |
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| 49 | getVertex(i,vtx); |
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| 50 | newDot = vec.dot(vtx); |
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| 51 | if (newDot > maxDot) |
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| 52 | { |
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| 53 | maxDot = newDot; |
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| 54 | supVec = vtx; |
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| 55 | } |
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| 56 | } |
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| 57 | |
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[7983] | 58 | |
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| 59 | #endif //__SPU__ |
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[1963] | 60 | return supVec; |
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| 61 | } |
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| 62 | |
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[7983] | 63 | |
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| 64 | |
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[1963] | 65 | void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
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| 66 | { |
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[7983] | 67 | #ifndef __SPU__ |
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[1963] | 68 | int i; |
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| 69 | |
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| 70 | btVector3 vtx; |
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| 71 | btScalar newDot; |
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| 72 | |
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| 73 | for (i=0;i<numVectors;i++) |
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| 74 | { |
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[7983] | 75 | supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT); |
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[1963] | 76 | } |
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| 77 | |
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| 78 | for (int j=0;j<numVectors;j++) |
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| 79 | { |
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| 80 | |
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| 81 | const btVector3& vec = vectors[j]; |
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| 82 | |
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| 83 | for (i=0;i<getNumVertices();i++) |
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| 84 | { |
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| 85 | getVertex(i,vtx); |
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| 86 | newDot = vec.dot(vtx); |
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| 87 | if (newDot > supportVerticesOut[j][3]) |
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| 88 | { |
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| 89 | //WARNING: don't swap next lines, the w component would get overwritten! |
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| 90 | supportVerticesOut[j] = vtx; |
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| 91 | supportVerticesOut[j][3] = newDot; |
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| 92 | } |
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| 93 | } |
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| 94 | } |
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[7983] | 95 | #endif //__SPU__ |
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[1963] | 96 | } |
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| 97 | |
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| 98 | |
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| 99 | |
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| 100 | void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
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| 101 | { |
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[7983] | 102 | #ifndef __SPU__ |
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[1963] | 103 | //not yet, return box inertia |
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| 104 | |
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| 105 | btScalar margin = getMargin(); |
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| 106 | |
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| 107 | btTransform ident; |
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| 108 | ident.setIdentity(); |
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| 109 | btVector3 aabbMin,aabbMax; |
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| 110 | getAabb(ident,aabbMin,aabbMax); |
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| 111 | btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); |
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| 112 | |
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| 113 | btScalar lx=btScalar(2.)*(halfExtents.x()+margin); |
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| 114 | btScalar ly=btScalar(2.)*(halfExtents.y()+margin); |
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| 115 | btScalar lz=btScalar(2.)*(halfExtents.z()+margin); |
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| 116 | const btScalar x2 = lx*lx; |
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| 117 | const btScalar y2 = ly*ly; |
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| 118 | const btScalar z2 = lz*lz; |
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| 119 | const btScalar scaledmass = mass * btScalar(0.08333333); |
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| 120 | |
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| 121 | inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); |
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[7983] | 122 | #endif //__SPU__ |
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[1963] | 123 | } |
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| 124 | |
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| 125 | |
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| 126 | |
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[7983] | 127 | void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling) |
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[1963] | 128 | { |
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[7983] | 129 | btConvexInternalShape::setLocalScaling(scaling); |
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| 130 | recalcLocalAabb(); |
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[1963] | 131 | } |
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| 132 | |
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[7983] | 133 | btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape() |
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| 134 | :btPolyhedralConvexShape(), |
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| 135 | m_localAabbMin(1,1,1), |
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| 136 | m_localAabbMax(-1,-1,-1), |
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| 137 | m_isLocalAabbValid(false) |
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| 138 | { |
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| 139 | } |
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[1963] | 140 | |
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[7983] | 141 | void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const |
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[1963] | 142 | { |
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[7983] | 143 | getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); |
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[1963] | 144 | } |
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| 145 | |
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[7983] | 146 | void btPolyhedralConvexAabbCachingShape::recalcLocalAabb() |
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[1963] | 147 | { |
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| 148 | m_isLocalAabbValid = true; |
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| 149 | |
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| 150 | #if 1 |
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| 151 | static const btVector3 _directions[] = |
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| 152 | { |
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| 153 | btVector3( 1., 0., 0.), |
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| 154 | btVector3( 0., 1., 0.), |
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| 155 | btVector3( 0., 0., 1.), |
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| 156 | btVector3( -1., 0., 0.), |
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| 157 | btVector3( 0., -1., 0.), |
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| 158 | btVector3( 0., 0., -1.) |
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| 159 | }; |
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| 160 | |
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| 161 | btVector3 _supporting[] = |
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| 162 | { |
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| 163 | btVector3( 0., 0., 0.), |
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| 164 | btVector3( 0., 0., 0.), |
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| 165 | btVector3( 0., 0., 0.), |
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| 166 | btVector3( 0., 0., 0.), |
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| 167 | btVector3( 0., 0., 0.), |
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| 168 | btVector3( 0., 0., 0.) |
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| 169 | }; |
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| 170 | |
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| 171 | batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); |
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| 172 | |
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| 173 | for ( int i = 0; i < 3; ++i ) |
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| 174 | { |
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| 175 | m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; |
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| 176 | m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; |
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| 177 | } |
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| 178 | |
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| 179 | #else |
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| 180 | |
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| 181 | for (int i=0;i<3;i++) |
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| 182 | { |
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| 183 | btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); |
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| 184 | vec[i] = btScalar(1.); |
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| 185 | btVector3 tmp = localGetSupportingVertex(vec); |
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| 186 | m_localAabbMax[i] = tmp[i]+m_collisionMargin; |
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| 187 | vec[i] = btScalar(-1.); |
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| 188 | tmp = localGetSupportingVertex(vec); |
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| 189 | m_localAabbMin[i] = tmp[i]-m_collisionMargin; |
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| 190 | } |
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| 191 | #endif |
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| 192 | } |
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| 193 | |
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