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 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
16 #include "LinearMath/btSerializer.h"
17
18 /*
19 Make sure this dummy function never changes so that it
20 can be used by probes that are checking whether the
21 library is actually installed.
22 */
23 extern "C"
24 {
25 void btBulletCollisionProbe ();
26
btBulletCollisionProbe()27 void btBulletCollisionProbe () {}
28 }
29
30
31
getBoundingSphere(btVector3 & center,btScalar & radius) const32 void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
33 {
34 btTransform tr;
35 tr.setIdentity();
36 btVector3 aabbMin,aabbMax;
37
38 getAabb(tr,aabbMin,aabbMax);
39
40 radius = (aabbMax-aabbMin).length()*btScalar(0.5);
41 center = (aabbMin+aabbMax)*btScalar(0.5);
42 }
43
44
getContactBreakingThreshold(btScalar defaultContactThreshold) const45 btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const
46 {
47 return getAngularMotionDisc() * defaultContactThreshold;
48 }
49
getAngularMotionDisc() const50 btScalar btCollisionShape::getAngularMotionDisc() const
51 {
52 ///@todo cache this value, to improve performance
53 btVector3 center;
54 btScalar disc;
55 getBoundingSphere(center,disc);
56 disc += (center).length();
57 return disc;
58 }
59
calculateTemporalAabb(const btTransform & curTrans,const btVector3 & linvel,const btVector3 & angvel,btScalar timeStep,btVector3 & temporalAabbMin,btVector3 & temporalAabbMax) const60 void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
61 {
62 //start with static aabb
63 getAabb(curTrans,temporalAabbMin,temporalAabbMax);
64
65 btScalar temporalAabbMaxx = temporalAabbMax.getX();
66 btScalar temporalAabbMaxy = temporalAabbMax.getY();
67 btScalar temporalAabbMaxz = temporalAabbMax.getZ();
68 btScalar temporalAabbMinx = temporalAabbMin.getX();
69 btScalar temporalAabbMiny = temporalAabbMin.getY();
70 btScalar temporalAabbMinz = temporalAabbMin.getZ();
71
72 // add linear motion
73 btVector3 linMotion = linvel*timeStep;
74 ///@todo: simd would have a vector max/min operation, instead of per-element access
75 if (linMotion.x() > btScalar(0.))
76 temporalAabbMaxx += linMotion.x();
77 else
78 temporalAabbMinx += linMotion.x();
79 if (linMotion.y() > btScalar(0.))
80 temporalAabbMaxy += linMotion.y();
81 else
82 temporalAabbMiny += linMotion.y();
83 if (linMotion.z() > btScalar(0.))
84 temporalAabbMaxz += linMotion.z();
85 else
86 temporalAabbMinz += linMotion.z();
87
88 //add conservative angular motion
89 btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
90 btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
91 temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
92 temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
93
94 temporalAabbMin -= angularMotion3d;
95 temporalAabbMax += angularMotion3d;
96 }
97
98 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer) const99 const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const
100 {
101 btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
102 char* name = (char*) serializer->findNameForPointer(this);
103 shapeData->m_name = (char*)serializer->getUniquePointer(name);
104 if (shapeData->m_name)
105 {
106 serializer->serializeName(name);
107 }
108 shapeData->m_shapeType = m_shapeType;
109 //shapeData->m_padding//??
110 return "btCollisionShapeData";
111 }
112
serializeSingleShape(btSerializer * serializer) const113 void btCollisionShape::serializeSingleShape(btSerializer* serializer) const
114 {
115 int len = calculateSerializeBufferSize();
116 btChunk* chunk = serializer->allocate(len,1);
117 const char* structType = serialize(chunk->m_oldPtr, serializer);
118 serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
119 }