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source: code/branches/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp @ 12177

Last change on this file since 12177 was 12177, checked in by siramesh, 5 years ago

Super Orxo Bros Final (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 4.8 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btUniformScalingShape.h"
17
18btUniformScalingShape::btUniformScalingShape(   btConvexShape* convexChildShape,btScalar uniformScalingFactor):
19btConvexShape (), m_childConvexShape(convexChildShape),
20m_uniformScalingFactor(uniformScalingFactor)
21{
22        m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
23}
24       
25btUniformScalingShape::~btUniformScalingShape()
26{
27}
28       
29
30btVector3       btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
31{
32        btVector3 tmpVertex;
33        tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
34        return tmpVertex*m_uniformScalingFactor;
35}
36
37void    btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
38{
39        m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
40        int i;
41        for (i=0;i<numVectors;i++)
42        {
43                supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
44        }
45}
46
47
48btVector3       btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
49{
50        btVector3 tmpVertex;
51        tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
52        return tmpVertex*m_uniformScalingFactor;
53}
54
55
56void    btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
57{
58
59        ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
60        btVector3 tmpInertia;
61        m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
62        inertia = tmpInertia * m_uniformScalingFactor;
63}
64
65
66        ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
67void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
68{
69        getAabbSlow(trans,aabbMin,aabbMax);
70
71}
72
73void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
74{
75#if 1
76        btVector3 _directions[] =
77        {
78                btVector3( 1.,  0.,  0.),
79                btVector3( 0.,  1.,  0.),
80                btVector3( 0.,  0.,  1.),
81                btVector3( -1., 0.,  0.),
82                btVector3( 0., -1.,  0.),
83                btVector3( 0.,  0., -1.)
84        };
85       
86        btVector3 _supporting[] =
87        {
88                btVector3( 0., 0., 0.),
89                btVector3( 0., 0., 0.),
90                btVector3( 0., 0., 0.),
91                btVector3( 0., 0., 0.),
92                btVector3( 0., 0., 0.),
93                btVector3( 0., 0., 0.)
94        };
95
96        for (int i=0;i<6;i++)
97        {
98                _directions[i] = _directions[i]*t.getBasis();
99        }
100       
101        batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
102       
103        btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
104
105        for ( int i = 0; i < 3; ++i )
106        {
107                aabbMax1[i] = t(_supporting[i])[i];
108                aabbMin1[i] = t(_supporting[i + 3])[i];
109        }
110        btVector3 marginVec(getMargin(),getMargin(),getMargin());
111        aabbMin = aabbMin1-marginVec;
112        aabbMax = aabbMax1+marginVec;
113       
114#else
115
116        btScalar margin = getMargin();
117        for (int i=0;i<3;i++)
118        {
119                btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
120                vec[i] = btScalar(1.);
121                btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
122                btVector3 tmp = t(sv);
123                aabbMax[i] = tmp[i]+margin;
124                vec[i] = btScalar(-1.);
125                sv = localGetSupportingVertex(vec*t.getBasis());
126                tmp = t(sv);
127                aabbMin[i] = tmp[i]-margin;
128        }
129
130#endif
131}
132
133void    btUniformScalingShape::setLocalScaling(const btVector3& scaling) 
134{
135        m_childConvexShape->setLocalScaling(scaling);
136}
137
138const btVector3& btUniformScalingShape::getLocalScaling() const
139{
140        return m_childConvexShape->getLocalScaling();
141}
142
143void    btUniformScalingShape::setMargin(btScalar margin)
144{
145        m_childConvexShape->setMargin(margin);
146}
147btScalar        btUniformScalingShape::getMargin() const
148{
149        return m_childConvexShape->getMargin() * m_uniformScalingFactor;
150}
151
152int             btUniformScalingShape::getNumPreferredPenetrationDirections() const
153{
154        return m_childConvexShape->getNumPreferredPenetrationDirections();
155}
156       
157void    btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
158{
159        m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
160}
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