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      1 /*
      2 Bullet Continuous Collision Detection and Physics Library
      3 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
      4 
      5 This software is provided 'as-is', without any express or implied warranty.
      6 In no event will the authors be held liable for any damages arising from the use of this software.
      7 Permission is granted to anyone to use this software for any purpose,
      8 including commercial applications, and to alter it and redistribute it freely,
      9 subject to the following restrictions:
     10 
     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.
     12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
     13 3. This notice may not be removed or altered from any source distribution.
     14 */
     15 
     16 
     17 #include "btConvexInternalShape.h"
     18 
     19 
     20 
     21 btConvexInternalShape::btConvexInternalShape()
     22 : m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
     23 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
     24 {
     25 }
     26 
     27 
     28 void	btConvexInternalShape::setLocalScaling(const btVector3& scaling)
     29 {
     30 	m_localScaling = scaling.absolute();
     31 }
     32 
     33 
     34 
     35 void	btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
     36 {
     37 #ifndef __SPU__
     38 	//use localGetSupportingVertexWithoutMargin?
     39 	btScalar margin = getMargin();
     40 	for (int i=0;i<3;i++)
     41 	{
     42 		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
     43 		vec[i] = btScalar(1.);
     44 
     45 		btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
     46 
     47 		btVector3 tmp = trans(sv);
     48 		maxAabb[i] = tmp[i]+margin;
     49 		vec[i] = btScalar(-1.);
     50 		tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
     51 		minAabb[i] = tmp[i]-margin;
     52 	}
     53 #endif
     54 }
     55 
     56 
     57 
     58 btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
     59 {
     60 #ifndef __SPU__
     61 
     62 	 btVector3	supVertex = localGetSupportingVertexWithoutMargin(vec);
     63 
     64 	if ( getMargin()!=btScalar(0.) )
     65 	{
     66 		btVector3 vecnorm = vec;
     67 		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
     68 		{
     69 			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
     70 		}
     71 		vecnorm.normalize();
     72 		supVertex+= getMargin() * vecnorm;
     73 	}
     74 	return supVertex;
     75 
     76 #else
     77 	btAssert(0);
     78 	return btVector3(0,0,0);
     79 #endif //__SPU__
     80 
     81  }
     82 
     83 
     84 btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
     85 	:	btConvexInternalShape(),
     86 m_localAabbMin(1,1,1),
     87 m_localAabbMax(-1,-1,-1),
     88 m_isLocalAabbValid(false)
     89 {
     90 }
     91 
     92 
     93 void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
     94 {
     95 	getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
     96 }
     97 
     98 void	btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
     99 {
    100 	btConvexInternalShape::setLocalScaling(scaling);
    101 	recalcLocalAabb();
    102 }
    103 
    104 
    105 void	btConvexInternalAabbCachingShape::recalcLocalAabb()
    106 {
    107 	m_isLocalAabbValid = true;
    108 
    109 	#if 1
    110 	static const btVector3 _directions[] =
    111 	{
    112 		btVector3( 1.,  0.,  0.),
    113 		btVector3( 0.,  1.,  0.),
    114 		btVector3( 0.,  0.,  1.),
    115 		btVector3( -1., 0.,  0.),
    116 		btVector3( 0., -1.,  0.),
    117 		btVector3( 0.,  0., -1.)
    118 	};
    119 
    120 	btVector3 _supporting[] =
    121 	{
    122 		btVector3( 0., 0., 0.),
    123 		btVector3( 0., 0., 0.),
    124 		btVector3( 0., 0., 0.),
    125 		btVector3( 0., 0., 0.),
    126 		btVector3( 0., 0., 0.),
    127 		btVector3( 0., 0., 0.)
    128 	};
    129 
    130 	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
    131 
    132 	for ( int i = 0; i < 3; ++i )
    133 	{
    134 		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
    135 		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
    136 	}
    137 
    138 	#else
    139 
    140 	for (int i=0;i<3;i++)
    141 	{
    142 		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
    143 		vec[i] = btScalar(1.);
    144 		btVector3 tmp = localGetSupportingVertex(vec);
    145 		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
    146 		vec[i] = btScalar(-1.);
    147 		tmp = localGetSupportingVertex(vec);
    148 		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
    149 	}
    150 	#endif
    151 }
    152