1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
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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 | #ifndef BT_OBB_BOX_MINKOWSKI_H |
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17 | #define BT_OBB_BOX_MINKOWSKI_H |
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18 | |
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19 | #include "btPolyhedralConvexShape.h" |
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20 | #include "btCollisionMargin.h" |
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21 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
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22 | #include "LinearMath/btVector3.h" |
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23 | #include "LinearMath/btMinMax.h" |
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24 | |
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25 | ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. |
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26 | class btBoxShape: public btPolyhedralConvexShape |
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27 | { |
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28 | |
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29 | //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead |
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30 | |
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31 | |
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32 | public: |
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33 | |
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34 | btVector3 getHalfExtentsWithMargin() const |
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35 | { |
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36 | btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
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37 | btVector3 margin(getMargin(),getMargin(),getMargin()); |
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38 | halfExtents += margin; |
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39 | return halfExtents; |
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40 | } |
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41 | |
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42 | const btVector3& getHalfExtentsWithoutMargin() const |
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43 | { |
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44 | return m_implicitShapeDimensions;//scaling is included, margin is not |
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45 | } |
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46 | |
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47 | |
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48 | virtual btVector3 localGetSupportingVertex(const btVector3& vec) const |
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49 | { |
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50 | btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
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51 | btVector3 margin(getMargin(),getMargin(),getMargin()); |
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52 | halfExtents += margin; |
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53 | |
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54 | return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), |
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55 | btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), |
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56 | btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); |
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57 | } |
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58 | |
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59 | SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
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60 | { |
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61 | const btVector3& halfExtents = getHalfExtentsWithoutMargin(); |
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62 | |
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63 | return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), |
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64 | btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), |
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65 | btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); |
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66 | } |
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67 | |
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68 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
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69 | { |
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70 | const btVector3& halfExtents = getHalfExtentsWithoutMargin(); |
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71 | |
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72 | for (int i=0;i<numVectors;i++) |
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73 | { |
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74 | const btVector3& vec = vectors[i]; |
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75 | supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), |
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76 | btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), |
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77 | btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); |
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78 | } |
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79 | |
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80 | } |
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81 | |
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82 | |
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83 | btBoxShape( const btVector3& boxHalfExtents) |
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84 | : btPolyhedralConvexShape() |
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85 | { |
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86 | m_shapeType = BOX_SHAPE_PROXYTYPE; |
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87 | btVector3 margin(getMargin(),getMargin(),getMargin()); |
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88 | m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; |
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89 | }; |
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90 | |
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91 | virtual void setMargin(btScalar collisionMargin) |
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92 | { |
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93 | //correct the m_implicitShapeDimensions for the margin |
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94 | btVector3 oldMargin(getMargin(),getMargin(),getMargin()); |
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95 | btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; |
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96 | |
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97 | btConvexInternalShape::setMargin(collisionMargin); |
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98 | btVector3 newMargin(getMargin(),getMargin(),getMargin()); |
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99 | m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; |
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100 | |
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101 | } |
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102 | virtual void setLocalScaling(const btVector3& scaling) |
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103 | { |
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104 | btVector3 oldMargin(getMargin(),getMargin(),getMargin()); |
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105 | btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; |
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106 | btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; |
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107 | |
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108 | btConvexInternalShape::setLocalScaling(scaling); |
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109 | |
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110 | m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; |
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111 | |
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112 | } |
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113 | |
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114 | virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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115 | |
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116 | |
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117 | |
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118 | virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
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119 | |
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120 | virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const |
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121 | { |
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122 | //this plane might not be aligned... |
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123 | btVector4 plane ; |
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124 | getPlaneEquation(plane,i); |
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125 | planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ()); |
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126 | planeSupport = localGetSupportingVertex(-planeNormal); |
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127 | } |
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128 | |
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129 | |
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130 | virtual int getNumPlanes() const |
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131 | { |
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132 | return 6; |
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133 | } |
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134 | |
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135 | virtual int getNumVertices() const |
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136 | { |
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137 | return 8; |
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138 | } |
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139 | |
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140 | virtual int getNumEdges() const |
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141 | { |
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142 | return 12; |
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143 | } |
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144 | |
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145 | |
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146 | virtual void getVertex(int i,btVector3& vtx) const |
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147 | { |
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148 | btVector3 halfExtents = getHalfExtentsWithMargin(); |
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149 | |
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150 | vtx = btVector3( |
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151 | halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1), |
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152 | halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1), |
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153 | halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2)); |
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154 | } |
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155 | |
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156 | |
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157 | virtual void getPlaneEquation(btVector4& plane,int i) const |
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158 | { |
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159 | btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
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160 | |
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161 | switch (i) |
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162 | { |
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163 | case 0: |
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164 | plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); |
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165 | break; |
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166 | case 1: |
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167 | plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); |
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168 | break; |
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169 | case 2: |
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170 | plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); |
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171 | break; |
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172 | case 3: |
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173 | plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); |
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174 | break; |
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175 | case 4: |
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176 | plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); |
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177 | break; |
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178 | case 5: |
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179 | plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); |
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180 | break; |
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181 | default: |
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182 | btAssert(0); |
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183 | } |
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184 | } |
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185 | |
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186 | |
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187 | virtual void getEdge(int i,btVector3& pa,btVector3& pb) const |
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188 | //virtual void getEdge(int i,Edge& edge) const |
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189 | { |
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190 | int edgeVert0 = 0; |
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191 | int edgeVert1 = 0; |
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192 | |
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193 | switch (i) |
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194 | { |
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195 | case 0: |
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196 | edgeVert0 = 0; |
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197 | edgeVert1 = 1; |
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198 | break; |
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199 | case 1: |
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200 | edgeVert0 = 0; |
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201 | edgeVert1 = 2; |
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202 | break; |
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203 | case 2: |
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204 | edgeVert0 = 1; |
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205 | edgeVert1 = 3; |
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206 | |
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207 | break; |
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208 | case 3: |
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209 | edgeVert0 = 2; |
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210 | edgeVert1 = 3; |
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211 | break; |
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212 | case 4: |
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213 | edgeVert0 = 0; |
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214 | edgeVert1 = 4; |
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215 | break; |
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216 | case 5: |
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217 | edgeVert0 = 1; |
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218 | edgeVert1 = 5; |
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219 | |
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220 | break; |
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221 | case 6: |
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222 | edgeVert0 = 2; |
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223 | edgeVert1 = 6; |
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224 | break; |
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225 | case 7: |
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226 | edgeVert0 = 3; |
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227 | edgeVert1 = 7; |
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228 | break; |
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229 | case 8: |
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230 | edgeVert0 = 4; |
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231 | edgeVert1 = 5; |
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232 | break; |
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233 | case 9: |
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234 | edgeVert0 = 4; |
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235 | edgeVert1 = 6; |
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236 | break; |
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237 | case 10: |
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238 | edgeVert0 = 5; |
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239 | edgeVert1 = 7; |
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240 | break; |
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241 | case 11: |
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242 | edgeVert0 = 6; |
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243 | edgeVert1 = 7; |
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244 | break; |
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245 | default: |
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246 | btAssert(0); |
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247 | |
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248 | } |
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249 | |
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250 | getVertex(edgeVert0,pa ); |
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251 | getVertex(edgeVert1,pb ); |
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252 | } |
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253 | |
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254 | |
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255 | |
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256 | |
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257 | |
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258 | virtual bool isInside(const btVector3& pt,btScalar tolerance) const |
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259 | { |
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260 | btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
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261 | |
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262 | //btScalar minDist = 2*tolerance; |
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263 | |
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264 | bool result = (pt.x() <= (halfExtents.x()+tolerance)) && |
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265 | (pt.x() >= (-halfExtents.x()-tolerance)) && |
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266 | (pt.y() <= (halfExtents.y()+tolerance)) && |
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267 | (pt.y() >= (-halfExtents.y()-tolerance)) && |
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268 | (pt.z() <= (halfExtents.z()+tolerance)) && |
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269 | (pt.z() >= (-halfExtents.z()-tolerance)); |
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270 | |
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271 | return result; |
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272 | } |
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273 | |
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274 | |
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275 | //debugging |
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276 | virtual const char* getName()const |
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277 | { |
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278 | return "Box"; |
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279 | } |
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280 | |
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281 | virtual int getNumPreferredPenetrationDirections() const |
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282 | { |
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283 | return 6; |
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284 | } |
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285 | |
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286 | virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const |
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287 | { |
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288 | switch (index) |
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289 | { |
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290 | case 0: |
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291 | penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.)); |
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292 | break; |
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293 | case 1: |
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294 | penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); |
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295 | break; |
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296 | case 2: |
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297 | penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); |
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298 | break; |
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299 | case 3: |
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300 | penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); |
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301 | break; |
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302 | case 4: |
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303 | penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); |
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304 | break; |
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305 | case 5: |
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306 | penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); |
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307 | break; |
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308 | default: |
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309 | btAssert(0); |
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310 | } |
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311 | } |
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312 | |
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313 | }; |
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314 | |
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315 | |
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316 | #endif //BT_OBB_BOX_MINKOWSKI_H |
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317 | |
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318 | |
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