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) : btConvexShape(), m_childConvexShape(convexChildShape)
19 {
20 m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
21 }
22
~btConvex2dShape()23 btConvex2dShape::~btConvex2dShape()
24 {
25 }
26
localGetSupportingVertexWithoutMargin(const btVector3 & vec) const27 btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
28 {
29 return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
30 }
31
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const32 void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
33 {
34 m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
35 }
36
localGetSupportingVertex(const btVector3 & vec) const37 btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec) const
38 {
39 return m_childConvexShape->localGetSupportingVertex(vec);
40 }
41
calculateLocalInertia(btScalar mass,btVector3 & inertia) const42 void btConvex2dShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
43 {
44 ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
45 m_childConvexShape->calculateLocalInertia(mass, inertia);
46 }
47
48 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
getAabb(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const49 void btConvex2dShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
50 {
51 m_childConvexShape->getAabb(t, aabbMin, aabbMax);
52 }
53
getAabbSlow(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const54 void btConvex2dShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
55 {
56 m_childConvexShape->getAabbSlow(t, aabbMin, aabbMax);
57 }
58
setLocalScaling(const btVector3 & scaling)59 void btConvex2dShape::setLocalScaling(const btVector3& scaling)
60 {
61 m_childConvexShape->setLocalScaling(scaling);
62 }
63
getLocalScaling() const64 const btVector3& btConvex2dShape::getLocalScaling() const
65 {
66 return m_childConvexShape->getLocalScaling();
67 }
68
setMargin(btScalar margin)69 void btConvex2dShape::setMargin(btScalar margin)
70 {
71 m_childConvexShape->setMargin(margin);
72 }
getMargin() const73 btScalar btConvex2dShape::getMargin() const
74 {
75 return m_childConvexShape->getMargin();
76 }
77
getNumPreferredPenetrationDirections() const78 int btConvex2dShape::getNumPreferredPenetrationDirections() const
79 {
80 return m_childConvexShape->getNumPreferredPenetrationDirections();
81 }
82
getPreferredPenetrationDirection(int index,btVector3 & penetrationVector) const83 void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
84 {
85 m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
86 }
87