Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.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/btTetrahedronShape.cpp (modified) (6 diffs)

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

@@ -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.
@@ -14 +13 @@
 3. This notice may not be removed or altered from any source distribution.
 */
+
 #include "btTetrahedronShape.h"
 #include "LinearMath/btMatrix3x3.h"
 
-btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexShape (),
-m_numVertices(0)
-{
-        m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
-}
-
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexShape (),
-m_numVertices(0)
-{
-        m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
-        addVertex(pt0);
-}
-
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
+m_numVertices(0)
+{
+        m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
+}
+
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
+m_numVertices(0)
+{
+        m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
+        addVertex(pt0);
+}
+
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
@@ -38 +38 @@
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
@@ -47 +47 @@
 }
 
-btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexShape (),
+btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
 m_numVertices(0)
 {
@@ -58 +58 @@
 
 
+void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+#if 1
+        btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
+#else
+        aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+        aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+
+        //just transform the vertices in worldspace, and take their AABB
+        for (int i=0;i<m_numVertices;i++)
+        {
+                btVector3 worldVertex = t(m_vertices[i]);
+                aabbMin.setMin(worldVertex);
+                aabbMax.setMax(worldVertex);
+        }
+#endif
+}
+
+
 
 
@@ -64 +83 @@
 {
         m_vertices[m_numVertices++] = pt;
-
         recalcLocalAabb();
 }