[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #include "btUniformScalingShape.h" |
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| 17 | |
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| 18 | btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor): |
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| 19 | btConvexShape (), m_childConvexShape(convexChildShape), |
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| 20 | m_uniformScalingFactor(uniformScalingFactor) |
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| 21 | { |
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| 22 | m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE; |
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| 23 | } |
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| 24 | |
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| 25 | btUniformScalingShape::~btUniformScalingShape() |
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| 26 | { |
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| 27 | } |
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| 28 | |
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| 29 | |
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| 30 | btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
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| 31 | { |
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| 32 | btVector3 tmpVertex; |
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| 33 | tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec); |
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| 34 | return tmpVertex*m_uniformScalingFactor; |
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| 35 | } |
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| 36 | |
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| 37 | void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
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| 38 | { |
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| 39 | m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors); |
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| 40 | int i; |
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| 41 | for (i=0;i<numVectors;i++) |
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| 42 | { |
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| 43 | supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor; |
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| 44 | } |
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| 45 | } |
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| 46 | |
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| 47 | |
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| 48 | btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const |
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| 49 | { |
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| 50 | btVector3 tmpVertex; |
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| 51 | tmpVertex = m_childConvexShape->localGetSupportingVertex(vec); |
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| 52 | return tmpVertex*m_uniformScalingFactor; |
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| 53 | } |
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| 54 | |
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| 55 | |
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| 56 | void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
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| 57 | { |
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| 58 | |
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| 59 | ///this linear upscaling is not realistic, but we don't deal with large mass ratios... |
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| 60 | btVector3 tmpInertia; |
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| 61 | m_childConvexShape->calculateLocalInertia(mass,tmpInertia); |
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| 62 | inertia = tmpInertia * m_uniformScalingFactor; |
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| 63 | } |
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| 64 | |
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| 65 | |
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| 66 | ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version |
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| 67 | void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
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| 68 | { |
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| 69 | m_childConvexShape->getAabb(t,aabbMin,aabbMax); |
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| 70 | btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); |
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| 71 | btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; |
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| 72 | |
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| 73 | aabbMin = aabbCenter - scaledAabbHalfExtends; |
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| 74 | aabbMax = aabbCenter + scaledAabbHalfExtends; |
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| 75 | |
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| 76 | } |
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| 77 | |
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| 78 | void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
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| 79 | { |
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| 80 | m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax); |
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| 81 | btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); |
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| 82 | btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; |
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| 83 | |
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| 84 | aabbMin = aabbCenter - scaledAabbHalfExtends; |
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| 85 | aabbMax = aabbCenter + scaledAabbHalfExtends; |
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| 86 | } |
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| 87 | |
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| 88 | void btUniformScalingShape::setLocalScaling(const btVector3& scaling) |
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| 89 | { |
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| 90 | m_childConvexShape->setLocalScaling(scaling); |
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| 91 | } |
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| 92 | |
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| 93 | const btVector3& btUniformScalingShape::getLocalScaling() const |
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| 94 | { |
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| 95 | return m_childConvexShape->getLocalScaling(); |
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| 96 | } |
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| 97 | |
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| 98 | void btUniformScalingShape::setMargin(btScalar margin) |
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| 99 | { |
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| 100 | m_childConvexShape->setMargin(margin); |
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| 101 | } |
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| 102 | btScalar btUniformScalingShape::getMargin() const |
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| 103 | { |
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| 104 | return m_childConvexShape->getMargin() * m_uniformScalingFactor; |
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| 105 | } |
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| 106 | |
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| 107 | int btUniformScalingShape::getNumPreferredPenetrationDirections() const |
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| 108 | { |
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| 109 | return m_childConvexShape->getNumPreferredPenetrationDirections(); |
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| 110 | } |
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| 111 | |
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| 112 | void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const |
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| 113 | { |
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| 114 | m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector); |
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| 115 | } |
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