Bullet Collision Detection & Physics Library
btConvexInternalShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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
18
19
20
22: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
23m_collisionMargin(CONVEX_DISTANCE_MARGIN)
24{
25}
26
27
29{
30 m_localScaling = scaling.absolute();
31}
32
33
34
35void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
36{
37#ifndef __SPU__
38 //use localGetSupportingVertexWithoutMargin?
39 btScalar margin = getMargin();
40 for (int i=0;i<3;i++)
41 {
42 btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
43 vec[i] = btScalar(1.);
44
46
47 btVector3 tmp = trans(sv);
48 maxAabb[i] = tmp[i]+margin;
49 vec[i] = btScalar(-1.);
50 tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
51 minAabb[i] = tmp[i]-margin;
52 }
53#endif
54}
55
56
57
59{
60#ifndef __SPU__
61
63
64 if ( getMargin()!=btScalar(0.) )
65 {
66 btVector3 vecnorm = vec;
67 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
68 {
69 vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
70 }
71 vecnorm.normalize();
72 supVertex+= getMargin() * vecnorm;
73 }
74 return supVertex;
75
76#else
77 btAssert(0);
78 return btVector3(0,0,0);
79#endif //__SPU__
80
81 }
82
83
86m_localAabbMin(1,1,1),
87m_localAabbMax(-1,-1,-1),
88m_isLocalAabbValid(false)
89{
90}
91
92
94{
95 getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
96}
97
99{
102}
103
104
106{
107 m_isLocalAabbValid = true;
108
109 #if 1
110 static const btVector3 _directions[] =
111 {
112 btVector3( 1., 0., 0.),
113 btVector3( 0., 1., 0.),
114 btVector3( 0., 0., 1.),
115 btVector3( -1., 0., 0.),
116 btVector3( 0., -1., 0.),
117 btVector3( 0., 0., -1.)
118 };
119
120 btVector3 _supporting[] =
121 {
122 btVector3( 0., 0., 0.),
123 btVector3( 0., 0., 0.),
124 btVector3( 0., 0., 0.),
125 btVector3( 0., 0., 0.),
126 btVector3( 0., 0., 0.),
127 btVector3( 0., 0., 0.)
128 };
129
130 batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
131
132 for ( int i = 0; i < 3; ++i )
133 {
134 m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
135 m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
136 }
137
138 #else
139
140 for (int i=0;i<3;i++)
141 {
142 btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
143 vec[i] = btScalar(1.);
146 vec[i] = btScalar(-1.);
147 tmp = localGetSupportingVertex(vec);
149 }
150 #endif
151}
#define CONVEX_DISTANCE_MARGIN
The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btC...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define SIMD_EPSILON
Definition: btScalar.h:521
#define btAssert(x)
Definition: btScalar.h:131
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
virtual void setLocalScaling(const btVector3 &scaling)
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setLocalScaling(const btVector3 &scaling)
virtual btScalar getMargin() const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
btVector3 absolute() const
Return a vector will the absolute values of each element.
Definition: btVector3.h:372
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309