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source: code/branches/kicklib2/src/external/bullet/BulletCollision/CollisionShapes/btCollisionShape.cpp @ 8332

Last change on this file since 8332 was 8284, checked in by rgrieder, 14 years ago

Merged revisions 7978 - 8096 from kicklib to kicklib2.

  • Property svn:eol-style set to native
File size: 4.2 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
16#include "LinearMath/btSerializer.h"
17
18/*
19  Make sure this dummy function never changes so that it
20  can be used by probes that are checking whether the
21  library is actually installed.
22*/
23extern "C" 
24{
25void btBulletCollisionProbe ();
26
27void btBulletCollisionProbe () {}
28}
29
30
31
32void    btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
33{
34        btTransform tr;
35        tr.setIdentity();
36        btVector3 aabbMin,aabbMax;
37
38        getAabb(tr,aabbMin,aabbMax);
39
40        radius = (aabbMax-aabbMin).length()*btScalar(0.5);
41        center = (aabbMin+aabbMax)*btScalar(0.5);
42}
43
44
45btScalar        btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
46{
47        return getAngularMotionDisc() * defaultContactThreshold;
48}
49
50btScalar        btCollisionShape::getAngularMotionDisc() const
51{
52        ///@todo cache this value, to improve performance
53        btVector3       center;
54        btScalar disc;
55        getBoundingSphere(center,disc);
56        disc += (center).length();
57        return disc;
58}
59
60void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
61{
62        //start with static aabb
63        getAabb(curTrans,temporalAabbMin,temporalAabbMax);
64
65        btScalar temporalAabbMaxx = temporalAabbMax.getX();
66        btScalar temporalAabbMaxy = temporalAabbMax.getY();
67        btScalar temporalAabbMaxz = temporalAabbMax.getZ();
68        btScalar temporalAabbMinx = temporalAabbMin.getX();
69        btScalar temporalAabbMiny = temporalAabbMin.getY();
70        btScalar temporalAabbMinz = temporalAabbMin.getZ();
71
72        // add linear motion
73        btVector3 linMotion = linvel*timeStep;
74        ///@todo: simd would have a vector max/min operation, instead of per-element access
75        if (linMotion.x() > btScalar(0.))
76                temporalAabbMaxx += linMotion.x(); 
77        else
78                temporalAabbMinx += linMotion.x();
79        if (linMotion.y() > btScalar(0.))
80                temporalAabbMaxy += linMotion.y(); 
81        else
82                temporalAabbMiny += linMotion.y();
83        if (linMotion.z() > btScalar(0.))
84                temporalAabbMaxz += linMotion.z(); 
85        else
86                temporalAabbMinz += linMotion.z();
87
88        //add conservative angular motion
89        btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
90        btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
91        temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
92        temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
93
94        temporalAabbMin -= angularMotion3d;
95        temporalAabbMax += angularMotion3d;
96}
97
98///fills the dataBuffer and returns the struct name (and 0 on failure)
99const char*     btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
100{
101        btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
102        char* name = (char*) serializer->findNameForPointer(this);
103        shapeData->m_name = (char*)serializer->getUniquePointer(name);
104        if (shapeData->m_name)
105        {
106                serializer->serializeName(name);
107        }
108        shapeData->m_shapeType = m_shapeType;
109        //shapeData->m_padding//??
110        return "btCollisionShapeData";
111}
112
113void    btCollisionShape::serializeSingleShape(btSerializer* serializer) const
114{
115        int len = calculateSerializeBufferSize();
116        btChunk* chunk = serializer->allocate(len,1);
117        const char* structType = serialize(chunk->m_oldPtr, serializer);
118        serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
119}
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