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source: code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @ 1972

Last change on this file since 1972 was 1972, checked in by rgrieder, 16 years ago

Downgraded Bullet to latest tagged version: 2.72
That should give us more stability.

  • Property svn:eol-style set to native
File size: 4.4 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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 "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
17
18btPolyhedralConvexShape::btPolyhedralConvexShape()
19:btConvexInternalShape(),
20m_localAabbMin(1,1,1),
21m_localAabbMax(-1,-1,-1),
22m_isLocalAabbValid(false),
23m_optionalHull(0)
24{
25
26}
27
28
29
30btVector3       btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
31{
32        int i;
33        btVector3 supVec(0,0,0);
34
35        btScalar maxDot(btScalar(-1e30));
36
37        btVector3 vec = vec0;
38        btScalar lenSqr = vec.length2();
39        if (lenSqr < btScalar(0.0001))
40        {
41                vec.setValue(1,0,0);
42        } else
43        {
44                btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
45                vec *= rlen;
46        }
47
48        btVector3 vtx;
49        btScalar newDot;
50
51        for (i=0;i<getNumVertices();i++)
52        {
53                getVertex(i,vtx);
54                newDot = vec.dot(vtx);
55                if (newDot > maxDot)
56                {
57                        maxDot = newDot;
58                        supVec = vtx;
59                }
60        }
61
62        return supVec;
63
64}
65
66void    btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
67{
68        int i;
69
70        btVector3 vtx;
71        btScalar newDot;
72
73        for (i=0;i<numVectors;i++)
74        {
75                supportVerticesOut[i][3] = btScalar(-1e30);
76        }
77
78        for (int j=0;j<numVectors;j++)
79        {
80       
81                const btVector3& vec = vectors[j];
82
83                for (i=0;i<getNumVertices();i++)
84                {
85                        getVertex(i,vtx);
86                        newDot = vec.dot(vtx);
87                        if (newDot > supportVerticesOut[j][3])
88                        {
89                                //WARNING: don't swap next lines, the w component would get overwritten!
90                                supportVerticesOut[j] = vtx;
91                                supportVerticesOut[j][3] = newDot;
92                        }
93                }
94        }
95}
96
97
98
99void    btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
100{
101        //not yet, return box inertia
102
103        btScalar margin = getMargin();
104
105        btTransform ident;
106        ident.setIdentity();
107        btVector3 aabbMin,aabbMax;
108        getAabb(ident,aabbMin,aabbMax);
109        btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
110
111        btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
112        btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
113        btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
114        const btScalar x2 = lx*lx;
115        const btScalar y2 = ly*ly;
116        const btScalar z2 = lz*lz;
117        const btScalar scaledmass = mass * btScalar(0.08333333);
118
119        inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
120
121}
122
123
124
125void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
126{
127        getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
128}
129
130
131
132void    btPolyhedralConvexShape::setLocalScaling(const btVector3& scaling)
133{
134        btConvexInternalShape::setLocalScaling(scaling);
135        recalcLocalAabb();
136}
137
138void    btPolyhedralConvexShape::recalcLocalAabb()
139{
140        m_isLocalAabbValid = true;
141       
142        #if 1
143        static const btVector3 _directions[] =
144        {
145                btVector3( 1.,  0.,  0.),
146                btVector3( 0.,  1.,  0.),
147                btVector3( 0.,  0.,  1.),
148                btVector3( -1., 0.,  0.),
149                btVector3( 0., -1.,  0.),
150                btVector3( 0.,  0., -1.)
151        };
152       
153        btVector3 _supporting[] =
154        {
155                btVector3( 0., 0., 0.),
156                btVector3( 0., 0., 0.),
157                btVector3( 0., 0., 0.),
158                btVector3( 0., 0., 0.),
159                btVector3( 0., 0., 0.),
160                btVector3( 0., 0., 0.)
161        };
162       
163        batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
164       
165        for ( int i = 0; i < 3; ++i )
166        {
167                m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
168                m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
169        }
170       
171        #else
172
173        for (int i=0;i<3;i++)
174        {
175                btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
176                vec[i] = btScalar(1.);
177                btVector3 tmp = localGetSupportingVertex(vec);
178                m_localAabbMax[i] = tmp[i]+m_collisionMargin;
179                vec[i] = btScalar(-1.);
180                tmp = localGetSupportingVertex(vec);
181                m_localAabbMin[i] = tmp[i]-m_collisionMargin;
182        }
183        #endif
184}
185
186
187
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