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source: code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @ 2258

Last change on this file since 2258 was 2192, checked in by rgrieder, 16 years ago

Reverted all changes of attempt to update physics branch.

  • Property svn:eol-style set to native
File size: 3.5 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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#include "btStaticPlaneShape.h"
17
18#include "LinearMath/btTransformUtil.h"
19
20
21btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
22: btConcaveShape (), m_planeNormal(planeNormal.normalized()),
23m_planeConstant(planeConstant),
24m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.))
25{
26        m_shapeType = STATIC_PLANE_PROXYTYPE;
27        //      btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
28}
29
30
31btStaticPlaneShape::~btStaticPlaneShape()
32{
33}
34
35
36
37void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
38{
39        (void)t;
40        /*
41        btVector3 infvec (btScalar(1e30),btScalar(1e30),btScalar(1e30));
42
43        btVector3 center = m_planeNormal*m_planeConstant;
44        aabbMin = center + infvec*m_planeNormal;
45        aabbMax = aabbMin;
46        aabbMin.setMin(center - infvec*m_planeNormal);
47        aabbMax.setMax(center - infvec*m_planeNormal);
48        */
49
50        aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
51        aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
52
53}
54
55
56
57
58void    btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
59{
60
61        btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
62        btScalar radius = halfExtents.length();
63        btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
64       
65        //this is where the triangles are generated, given AABB and plane equation (normal/constant)
66
67        btVector3 tangentDir0,tangentDir1;
68
69        //tangentDir0/tangentDir1 can be precalculated
70        btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
71
72        btVector3 supVertex0,supVertex1;
73
74        btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
75       
76        btVector3 triangle[3];
77        triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
78        triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
79        triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
80
81        callback->processTriangle(triangle,0,0);
82
83        triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
84        triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
85        triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
86
87        callback->processTriangle(triangle,0,1);
88
89}
90
91void    btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
92{
93        (void)mass;
94
95        //moving concave objects not supported
96       
97        inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
98}
99
100void    btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
101{
102        m_localScaling = scaling;
103}
104const btVector3& btStaticPlaneShape::getLocalScaling() const
105{
106        return m_localScaling;
107}
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