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source: code/branches/physics/src/bullet/BulletCollision/Gimpact/btGImpactShape.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: 4.6 KB
Line 
1/*
2This source file is part of GIMPACT Library.
3
4For the latest info, see http://gimpact.sourceforge.net/
5
6Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
7email: projectileman@yahoo.com
8
9
10This software is provided 'as-is', without any express or implied warranty.
11In no event will the authors be held liable for any damages arising from the use of this software.
12Permission is granted to anyone to use this software for any purpose,
13including commercial applications, and to alter it and redistribute it freely,
14subject to the following restrictions:
15
161. 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.
172. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
183. This notice may not be removed or altered from any source distribution.
19*/
20
21
22#include "btGImpactShape.h"
23#include "btGImpactMassUtil.h"
24
25
26#define CALC_EXACT_INERTIA 1
27
28void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
29{
30        lockChildShapes();
31#ifdef CALC_EXACT_INERTIA
32        inertia.setValue(0.f,0.f,0.f);
33
34        int i = this->getNumChildShapes();
35        btScalar shapemass = mass/btScalar(i);
36
37        while(i--)
38        {
39                btVector3 temp_inertia;
40                m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia);
41                if(childrenHasTransform())
42                {
43                        inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]);
44                }
45                else
46                {
47                        inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity());
48                }
49
50        }
51
52#else
53
54        // Calc box inertia
55
56        btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
57        btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
58        btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
59        const btScalar x2 = lx*lx;
60        const btScalar y2 = ly*ly;
61        const btScalar z2 = lz*lz;
62        const btScalar scaledmass = mass * btScalar(0.08333333);
63
64        inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
65
66#endif
67        unlockChildShapes();
68}
69
70
71
72void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const
73{
74        lockChildShapes();
75
76
77#ifdef CALC_EXACT_INERTIA
78        inertia.setValue(0.f,0.f,0.f);
79
80        int i = this->getVertexCount();
81        btScalar pointmass = mass/btScalar(i);
82
83        while(i--)
84        {
85                btVector3 pointintertia;
86                this->getVertex(i,pointintertia);
87                pointintertia = gim_get_point_inertia(pointintertia,pointmass);
88                inertia+=pointintertia;
89        }
90
91#else
92
93        // Calc box inertia
94
95        btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
96        btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
97        btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
98        const btScalar x2 = lx*lx;
99        const btScalar y2 = ly*ly;
100        const btScalar z2 = lz*lz;
101        const btScalar scaledmass = mass * btScalar(0.08333333);
102
103        inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
104
105#endif
106
107        unlockChildShapes();
108}
109
110void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
111{
112
113#ifdef CALC_EXACT_INERTIA
114        inertia.setValue(0.f,0.f,0.f);
115
116        int i = this->getMeshPartCount();
117        btScalar partmass = mass/btScalar(i);
118
119        while(i--)
120        {
121                btVector3 partinertia;
122                getMeshPart(i)->calculateLocalInertia(partmass,partinertia);
123                inertia+=partinertia;
124        }
125
126#else
127
128        // Calc box inertia
129
130        btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
131        btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
132        btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
133        const btScalar x2 = lx*lx;
134        const btScalar y2 = ly*ly;
135        const btScalar z2 = lz*lz;
136        const btScalar scaledmass = mass * btScalar(0.08333333);
137
138        inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
139
140#endif
141}
142
143void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
144{
145}
146
147
148void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
149{
150        lockChildShapes();
151        btAABB box;
152        box.m_min = aabbMin;
153        box.m_max = aabbMax;
154
155        btAlignedObjectArray<int> collided;
156        m_box_set.boxQuery(box,collided);
157
158        if(collided.size()==0)
159        {
160                unlockChildShapes();
161                return;
162        }
163
164        int part = (int)getPart();
165        btPrimitiveTriangle triangle;
166        int i = collided.size();
167        while(i--)
168        {
169                this->getPrimitiveTriangle(collided[i],triangle);
170                callback->processTriangle(triangle.m_vertices,part,collided[i]);
171        }
172        unlockChildShapes();
173
174}
175
176void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
177{
178        int i = m_mesh_parts.size();
179        while(i--)
180        {
181                m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax);
182        }
183}
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