Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp (modified) (4 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

@@ -1 +1 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -35 +35 @@
 void    btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
 {
-
+#ifndef __SPU__
+        //use localGetSupportingVertexWithoutMargin?
         btScalar margin = getMargin();
         for (int i=0;i<3;i++)
@@ -50 +51 @@
                 minAabb[i] = tmp[i]-margin;
         }
+#endif
 }
 
@@ -80 +82 @@
 
 
+btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
+        :       btConvexInternalShape(),
+m_localAabbMin(1,1,1),
+m_localAabbMax(-1,-1,-1),
+m_isLocalAabbValid(false)
+{
+}
+
+
+void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+        getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
+}
+
+void    btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
+{
+        btConvexInternalShape::setLocalScaling(scaling);
+        recalcLocalAabb();
+}
+
+
+void    btConvexInternalAabbCachingShape::recalcLocalAabb()
+{
+        m_isLocalAabbValid = true;
+        
+        #if 1
+        static const btVector3 _directions[] =
+        {
+                btVector3( 1.,  0.,  0.),
+                btVector3( 0.,  1.,  0.),
+                btVector3( 0.,  0.,  1.),
+                btVector3( -1., 0.,  0.),
+                btVector3( 0., -1.,  0.),
+                btVector3( 0.,  0., -1.)
+        };
+        
+        btVector3 _supporting[] =
+        {
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.)
+        };
+        
+        batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+        
+        for ( int i = 0; i < 3; ++i )
+        {
+                m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
+                m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
+        }
+        
+        #else
+
+        for (int i=0;i<3;i++)
+        {
+                btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+                vec[i] = btScalar(1.);
+                btVector3 tmp = localGetSupportingVertex(vec);
+                m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+                vec[i] = btScalar(-1.);
+                tmp = localGetSupportingVertex(vec);
+                m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+        }
+        #endif
+}