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
17
19 : m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)),
20 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
21{
22}
23
25{
26 m_localScaling = scaling.absolute();
27}
28
30{
31#ifndef __SPU__
32 //use localGetSupportingVertexWithoutMargin?
33 btScalar margin = getMargin();
34 for (int i = 0; i < 3; i++)
35 {
36 btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
37 vec[i] = btScalar(1.);
38
40
42 maxAabb[i] = tmp[i] + margin;
43 vec[i] = btScalar(-1.);
45 minAabb[i] = tmp[i] - margin;
46 }
47#endif
48}
49
51{
52#ifndef __SPU__
53
55
56 if (getMargin() != btScalar(0.))
57 {
59 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
60 {
61 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
62 }
63 vecnorm.normalize();
65 }
66 return supVertex;
67
68#else
69 btAssert(0);
70 return btVector3(0, 0, 0);
71#endif //__SPU__
72}
73
76 m_localAabbMin(1, 1, 1),
77 m_localAabbMax(-1, -1, -1),
78 m_isLocalAabbValid(false)
79{
80}
81
83{
85}
86
88{
91}
92
94{
95 m_isLocalAabbValid = true;
96
97#if 1
98 static const btVector3 _directions[] =
99 {
100 btVector3(1., 0., 0.),
101 btVector3(0., 1., 0.),
102 btVector3(0., 0., 1.),
103 btVector3(-1., 0., 0.),
104 btVector3(0., -1., 0.),
105 btVector3(0., 0., -1.)};
106
108 {
109 btVector3(0., 0., 0.),
110 btVector3(0., 0., 0.),
111 btVector3(0., 0., 0.),
112 btVector3(0., 0., 0.),
113 btVector3(0., 0., 0.),
114 btVector3(0., 0., 0.)};
115
117
118 for (int i = 0; i < 3; ++i)
119 {
122 }
123
124#else
125
126 for (int i = 0; i < 3; i++)
127 {
128 btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
129 vec[i] = btScalar(1.);
132 vec[i] = btScalar(-1.);
135 }
136#endif
137}
#define CONVEX_DISTANCE_MARGIN
The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btC...
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
#define SIMD_EPSILON
Definition btScalar.h:543
#define btAssert(x)
Definition btScalar.h:153
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:30
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3 absolute() const
Return a vector with the absolute values of each element.
Definition btVector3.h:364
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640