Changeset 8393 for code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp

Timestamp:

May 3, 2011, 5:07:42 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp (modified) (2 diffs)

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.cpp

@@ -65 +65 @@
 
         ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
 {
-        m_childConvexShape->getAabb(t,aabbMin,aabbMax);
-        btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
-        btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
-
-        aabbMin = aabbCenter - scaledAabbHalfExtends;
-        aabbMax = aabbCenter + scaledAabbHalfExtends;
+        getAabbSlow(trans,aabbMin,aabbMax);
 
 }
@@ -78 +73 @@
 void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 {
-        m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
-        btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
-        btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
+#if 1
+        btVector3 _directions[] =
+        {
+                btVector3( 1.,  0.,  0.),
+                btVector3( 0.,  1.,  0.),
+                btVector3( 0.,  0.,  1.),
+                btVector3( -1., 0.,  0.),
+                btVector3( 0., -1.,  0.),
+                btVector3( 0.,  0., -1.)
+        };
+        
+        btVector3 _supporting[] =
+        {
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.),
+                btVector3( 0., 0., 0.)
+        };
 
-        aabbMin = aabbCenter - scaledAabbHalfExtends;
-        aabbMax = aabbCenter + scaledAabbHalfExtends;
+        for (int i=0;i<6;i++)
+        {
+                _directions[i] = _directions[i]*t.getBasis();
+        }
+        
+        batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
+        
+        btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
+
+        for ( int i = 0; i < 3; ++i )
+        {
+                aabbMax1[i] = t(_supporting[i])[i];
+                aabbMin1[i] = t(_supporting[i + 3])[i];
+        }
+        btVector3 marginVec(getMargin(),getMargin(),getMargin());
+        aabbMin = aabbMin1-marginVec;
+        aabbMax = aabbMax1+marginVec;
+        
+#else
+
+        btScalar margin = getMargin();
+        for (int i=0;i<3;i++)
+        {
+                btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+                vec[i] = btScalar(1.);
+                btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
+                btVector3 tmp = t(sv);
+                aabbMax[i] = tmp[i]+margin;
+                vec[i] = btScalar(-1.);
+                sv = localGetSupportingVertex(vec*t.getBasis());
+                tmp = t(sv);
+                aabbMin[i] = tmp[i]-margin;
+        }
+
+#endif
 }