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 "btConvex2dShape.h"
17
btConvex2dShape(btConvexShape * convexChildShape)18 btConvex2dShape::btConvex2dShape( btConvexShape* convexChildShape):
19 btConvexShape (), m_childConvexShape(convexChildShape)
20 {
21 m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
22 }
23
~btConvex2dShape()24 btConvex2dShape::~btConvex2dShape()
25 {
26 }
27
28
29
localGetSupportingVertexWithoutMargin(const btVector3 & vec) const30 btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
31 {
32 return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
33 }
34
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const35 void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
36 {
37 m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
38 }
39
40
localGetSupportingVertex(const btVector3 & vec) const41 btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const
42 {
43 return m_childConvexShape->localGetSupportingVertex(vec);
44 }
45
46
calculateLocalInertia(btScalar mass,btVector3 & inertia) const47 void btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
48 {
49 ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
50 m_childConvexShape->calculateLocalInertia(mass,inertia);
51 }
52
53
54 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
getAabb(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const55 void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
56 {
57 m_childConvexShape->getAabb(t,aabbMin,aabbMax);
58 }
59
getAabbSlow(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const60 void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
61 {
62 m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
63 }
64
setLocalScaling(const btVector3 & scaling)65 void btConvex2dShape::setLocalScaling(const btVector3& scaling)
66 {
67 m_childConvexShape->setLocalScaling(scaling);
68 }
69
getLocalScaling() const70 const btVector3& btConvex2dShape::getLocalScaling() const
71 {
72 return m_childConvexShape->getLocalScaling();
73 }
74
setMargin(btScalar margin)75 void btConvex2dShape::setMargin(btScalar margin)
76 {
77 m_childConvexShape->setMargin(margin);
78 }
getMargin() const79 btScalar btConvex2dShape::getMargin() const
80 {
81 return m_childConvexShape->getMargin();
82 }
83
getNumPreferredPenetrationDirections() const84 int btConvex2dShape::getNumPreferredPenetrationDirections() const
85 {
86 return m_childConvexShape->getNumPreferredPenetrationDirections();
87 }
88
getPreferredPenetrationDirection(int index,btVector3 & penetrationVector) const89 void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
90 {
91 m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
92 }
93