[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 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/btCollisionShape.h" |
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| 17 | |
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| 18 | |
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[2882] | 19 | btScalar gContactThresholdFactor=btScalar(0.02); |
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| 20 | |
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| 21 | |
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[1963] | 22 | /* |
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| 23 | Make sure this dummy function never changes so that it |
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| 24 | can be used by probes that are checking whether the |
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| 25 | library is actually installed. |
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| 26 | */ |
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| 27 | extern "C" |
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| 28 | { |
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| 29 | void btBulletCollisionProbe (); |
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| 30 | |
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| 31 | void btBulletCollisionProbe () {} |
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| 32 | } |
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| 33 | |
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| 34 | |
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| 35 | |
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| 36 | void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const |
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| 37 | { |
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| 38 | btTransform tr; |
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| 39 | tr.setIdentity(); |
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| 40 | btVector3 aabbMin,aabbMax; |
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| 41 | |
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| 42 | getAabb(tr,aabbMin,aabbMax); |
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| 43 | |
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| 44 | radius = (aabbMax-aabbMin).length()*btScalar(0.5); |
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| 45 | center = (aabbMin+aabbMax)*btScalar(0.5); |
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| 46 | } |
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| 47 | |
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[2430] | 48 | btScalar btCollisionShape::getContactBreakingThreshold() const |
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| 49 | { |
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[2882] | 50 | return getAngularMotionDisc() * gContactThresholdFactor; |
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[2430] | 51 | } |
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[1963] | 52 | btScalar btCollisionShape::getAngularMotionDisc() const |
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| 53 | { |
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[2430] | 54 | ///@todo cache this value, to improve performance |
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[1963] | 55 | btVector3 center; |
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| 56 | btScalar disc; |
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| 57 | getBoundingSphere(center,disc); |
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| 58 | disc += (center).length(); |
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| 59 | return disc; |
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| 60 | } |
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| 61 | |
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| 62 | void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const |
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| 63 | { |
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| 64 | //start with static aabb |
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| 65 | getAabb(curTrans,temporalAabbMin,temporalAabbMax); |
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| 66 | |
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| 67 | btScalar temporalAabbMaxx = temporalAabbMax.getX(); |
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| 68 | btScalar temporalAabbMaxy = temporalAabbMax.getY(); |
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| 69 | btScalar temporalAabbMaxz = temporalAabbMax.getZ(); |
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| 70 | btScalar temporalAabbMinx = temporalAabbMin.getX(); |
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| 71 | btScalar temporalAabbMiny = temporalAabbMin.getY(); |
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| 72 | btScalar temporalAabbMinz = temporalAabbMin.getZ(); |
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| 73 | |
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| 74 | // add linear motion |
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| 75 | btVector3 linMotion = linvel*timeStep; |
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[2430] | 76 | ///@todo: simd would have a vector max/min operation, instead of per-element access |
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[1963] | 77 | if (linMotion.x() > btScalar(0.)) |
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| 78 | temporalAabbMaxx += linMotion.x(); |
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| 79 | else |
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| 80 | temporalAabbMinx += linMotion.x(); |
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| 81 | if (linMotion.y() > btScalar(0.)) |
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| 82 | temporalAabbMaxy += linMotion.y(); |
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| 83 | else |
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| 84 | temporalAabbMiny += linMotion.y(); |
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| 85 | if (linMotion.z() > btScalar(0.)) |
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| 86 | temporalAabbMaxz += linMotion.z(); |
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| 87 | else |
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| 88 | temporalAabbMinz += linMotion.z(); |
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| 89 | |
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| 90 | //add conservative angular motion |
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| 91 | btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep; |
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| 92 | btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion); |
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| 93 | temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz); |
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| 94 | temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz); |
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| 95 | |
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| 96 | temporalAabbMin -= angularMotion3d; |
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| 97 | temporalAabbMax += angularMotion3d; |
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| 98 | } |
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