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) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
19 {
20 m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
21 }
22
~btUniformScalingShape()23 btUniformScalingShape::~btUniformScalingShape()
24 {
25 }
26
localGetSupportingVertexWithoutMargin(const btVector3 & vec) const27 btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
28 {
29 btVector3 tmpVertex;
30 tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
31 return tmpVertex * m_uniformScalingFactor;
32 }
33
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const34 void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
35 {
36 m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
37 int i;
38 for (i = 0; i < numVectors; i++)
39 {
40 supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
41 }
42 }
43
localGetSupportingVertex(const btVector3 & vec) const44 btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec) const
45 {
46 btVector3 tmpVertex;
47 tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
48 return tmpVertex * m_uniformScalingFactor;
49 }
50
calculateLocalInertia(btScalar mass,btVector3 & inertia) const51 void btUniformScalingShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
52 {
53 ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
54 btVector3 tmpInertia;
55 m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
56 inertia = tmpInertia * m_uniformScalingFactor;
57 }
58
59 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
getAabb(const btTransform & trans,btVector3 & aabbMin,btVector3 & aabbMax) const60 void btUniformScalingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
61 {
62 getAabbSlow(trans, aabbMin, aabbMax);
63 }
64
getAabbSlow(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const65 void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
66 {
67 #if 1
68 btVector3 _directions[] =
69 {
70 btVector3(1., 0., 0.),
71 btVector3(0., 1., 0.),
72 btVector3(0., 0., 1.),
73 btVector3(-1., 0., 0.),
74 btVector3(0., -1., 0.),
75 btVector3(0., 0., -1.)};
76
77 btVector3 _supporting[] =
78 {
79 btVector3(0., 0., 0.),
80 btVector3(0., 0., 0.),
81 btVector3(0., 0., 0.),
82 btVector3(0., 0., 0.),
83 btVector3(0., 0., 0.),
84 btVector3(0., 0., 0.)};
85
86 for (int i = 0; i < 6; i++)
87 {
88 _directions[i] = _directions[i] * t.getBasis();
89 }
90
91 batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
92
93 btVector3 aabbMin1(0, 0, 0), aabbMax1(0, 0, 0);
94
95 for (int i = 0; i < 3; ++i)
96 {
97 aabbMax1[i] = t(_supporting[i])[i];
98 aabbMin1[i] = t(_supporting[i + 3])[i];
99 }
100 btVector3 marginVec(getMargin(), getMargin(), getMargin());
101 aabbMin = aabbMin1 - marginVec;
102 aabbMax = aabbMax1 + marginVec;
103
104 #else
105
106 btScalar margin = getMargin();
107 for (int i = 0; i < 3; i++)
108 {
109 btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
110 vec[i] = btScalar(1.);
111 btVector3 sv = localGetSupportingVertex(vec * t.getBasis());
112 btVector3 tmp = t(sv);
113 aabbMax[i] = tmp[i] + margin;
114 vec[i] = btScalar(-1.);
115 sv = localGetSupportingVertex(vec * t.getBasis());
116 tmp = t(sv);
117 aabbMin[i] = tmp[i] - margin;
118 }
119
120 #endif
121 }
122
setLocalScaling(const btVector3 & scaling)123 void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
124 {
125 m_childConvexShape->setLocalScaling(scaling);
126 }
127
getLocalScaling() const128 const btVector3& btUniformScalingShape::getLocalScaling() const
129 {
130 return m_childConvexShape->getLocalScaling();
131 }
132
setMargin(btScalar margin)133 void btUniformScalingShape::setMargin(btScalar margin)
134 {
135 m_childConvexShape->setMargin(margin);
136 }
getMargin() const137 btScalar btUniformScalingShape::getMargin() const
138 {
139 return m_childConvexShape->getMargin() * m_uniformScalingFactor;
140 }
141
getNumPreferredPenetrationDirections() const142 int btUniformScalingShape::getNumPreferredPenetrationDirections() const
143 {
144 return m_childConvexShape->getNumPreferredPenetrationDirections();
145 }
146
getPreferredPenetrationDirection(int index,btVector3 & penetrationVector) const147 void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
148 {
149 m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
150 }
151