Planet
navi homePPSaboutscreenshotsdownloaddevelopmentforum

source: code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp @ 1963

Last change on this file since 1963 was 1963, checked in by rgrieder, 15 years ago

Added Bullet physics engine.

  • Property svn:eol-style set to native
File size: 4.1 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2007 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 "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& t,btVector3& aabbMin,btVector3& aabbMax) const
68{
69        m_childConvexShape->getAabb(t,aabbMin,aabbMax);
70        btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
71        btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
72
73        aabbMin = aabbCenter - scaledAabbHalfExtends;
74        aabbMax = aabbCenter + scaledAabbHalfExtends;
75
76}
77
78void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
79{
80        m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
81        btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
82        btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
83
84        aabbMin = aabbCenter - scaledAabbHalfExtends;
85        aabbMax = aabbCenter + scaledAabbHalfExtends;
86}
87
88void    btUniformScalingShape::setLocalScaling(const btVector3& scaling) 
89{
90        m_childConvexShape->setLocalScaling(scaling);
91}
92
93const btVector3& btUniformScalingShape::getLocalScaling() const
94{
95        return m_childConvexShape->getLocalScaling();
96}
97
98void    btUniformScalingShape::setMargin(btScalar margin)
99{
100        m_childConvexShape->setMargin(margin);
101}
102btScalar        btUniformScalingShape::getMargin() const
103{
104        return m_childConvexShape->getMargin() * m_uniformScalingFactor;
105}
106
107int             btUniformScalingShape::getNumPreferredPenetrationDirections() const
108{
109        return m_childConvexShape->getNumPreferredPenetrationDirections();
110}
111       
112void    btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
113{
114        m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
115}
Note: See TracBrowser for help on using the repository browser.