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 #include "btUniformScalingShape.h"
17
btUniformScalingShape(btConvexShape * convexChildShape,btScalar uniformScalingFactor)18 btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor):
19 btConvexShape (), m_childConvexShape(convexChildShape),
20 m_uniformScalingFactor(uniformScalingFactor)
21 {
22 m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
23 }
24
~btUniformScalingShape()25 btUniformScalingShape::~btUniformScalingShape()
26 {
27 }
28
29
localGetSupportingVertexWithoutMargin(const btVector3 & vec) const30 btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
31 {
32 btVector3 tmpVertex;
33 tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
34 return tmpVertex*m_uniformScalingFactor;
35 }
36
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const37 void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
38 {
39 m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
40 int i;
41 for (i=0;i<numVectors;i++)
42 {
43 supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
44 }
45 }
46
47
localGetSupportingVertex(const btVector3 & vec) const48 btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
49 {
50 btVector3 tmpVertex;
51 tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
52 return tmpVertex*m_uniformScalingFactor;
53 }
54
55
calculateLocalInertia(btScalar mass,btVector3 & inertia) const56 void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
57 {
58
59 ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
60 btVector3 tmpInertia;
61 m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
62 inertia = tmpInertia * m_uniformScalingFactor;
63 }
64
65
66 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
getAabb(const btTransform & trans,btVector3 & aabbMin,btVector3 & aabbMax) const67 void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
68 {
69 getAabbSlow(trans,aabbMin,aabbMax);
70
71 }
72
getAabbSlow(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const73 void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
74 {
75 #if 1
76 btVector3 _directions[] =
77 {
78 btVector3( 1., 0., 0.),
79 btVector3( 0., 1., 0.),
80 btVector3( 0., 0., 1.),
81 btVector3( -1., 0., 0.),
82 btVector3( 0., -1., 0.),
83 btVector3( 0., 0., -1.)
84 };
85
86 btVector3 _supporting[] =
87 {
88 btVector3( 0., 0., 0.),
89 btVector3( 0., 0., 0.),
90 btVector3( 0., 0., 0.),
91 btVector3( 0., 0., 0.),
92 btVector3( 0., 0., 0.),
93 btVector3( 0., 0., 0.)
94 };
95
96 for (int i=0;i<6;i++)
97 {
98 _directions[i] = _directions[i]*t.getBasis();
99 }
100
101 batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
102
103 btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
104
105 for ( int i = 0; i < 3; ++i )
106 {
107 aabbMax1[i] = t(_supporting[i])[i];
108 aabbMin1[i] = t(_supporting[i + 3])[i];
109 }
110 btVector3 marginVec(getMargin(),getMargin(),getMargin());
111 aabbMin = aabbMin1-marginVec;
112 aabbMax = aabbMax1+marginVec;
113
114 #else
115
116 btScalar margin = getMargin();
117 for (int i=0;i<3;i++)
118 {
119 btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
120 vec[i] = btScalar(1.);
121 btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
122 btVector3 tmp = t(sv);
123 aabbMax[i] = tmp[i]+margin;
124 vec[i] = btScalar(-1.);
125 sv = localGetSupportingVertex(vec*t.getBasis());
126 tmp = t(sv);
127 aabbMin[i] = tmp[i]-margin;
128 }
129
130 #endif
131 }
132
setLocalScaling(const btVector3 & scaling)133 void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
134 {
135 m_childConvexShape->setLocalScaling(scaling);
136 }
137
getLocalScaling() const138 const btVector3& btUniformScalingShape::getLocalScaling() const
139 {
140 return m_childConvexShape->getLocalScaling();
141 }
142
setMargin(btScalar margin)143 void btUniformScalingShape::setMargin(btScalar margin)
144 {
145 m_childConvexShape->setMargin(margin);
146 }
getMargin() const147 btScalar btUniformScalingShape::getMargin() const
148 {
149 return m_childConvexShape->getMargin() * m_uniformScalingFactor;
150 }
151
getNumPreferredPenetrationDirections() const152 int btUniformScalingShape::getNumPreferredPenetrationDirections() const
153 {
154 return m_childConvexShape->getNumPreferredPenetrationDirections();
155 }
156
getPreferredPenetrationDirection(int index,btVector3 & penetrationVector) const157 void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
158 {
159 m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
160 }
161