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
btConvexInternalShape()21 btConvexInternalShape::btConvexInternalShape()
22 : m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
23 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
24 {
25 }
26
27
setLocalScaling(const btVector3 & scaling)28 void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
29 {
30 m_localScaling = scaling.absolute();
31 }
32
33
34
getAabbSlow(const btTransform & trans,btVector3 & minAabb,btVector3 & maxAabb) const35 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
localGetSupportingVertex(const btVector3 & vec) const58 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
btConvexInternalAabbCachingShape()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
getAabb(const btTransform & trans,btVector3 & aabbMin,btVector3 & aabbMax) const93 void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
94 {
95 getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
96 }
97
setLocalScaling(const btVector3 & scaling)98 void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
99 {
100 btConvexInternalShape::setLocalScaling(scaling);
101 recalcLocalAabb();
102 }
103
104
recalcLocalAabb()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