86 lines
3.2 KiB
C++
86 lines
3.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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/*
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Make sure this dummy function never changes so that it
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can be used by probes that are checking whether the
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library is actually installed.
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*/
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extern "C" void btBulletCollisionProbe () {}
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void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
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{
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btTransform tr;
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tr.setIdentity();
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btVector3 aabbMin,aabbMax;
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getAabb(tr,aabbMin,aabbMax);
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radius = (aabbMax-aabbMin).length()*btScalar(0.5);
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center = (aabbMin+aabbMax)*btScalar(0.5);
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}
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btScalar btCollisionShape::getAngularMotionDisc() const
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{
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btVector3 center;
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btScalar disc;
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getBoundingSphere(center,disc);
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disc += (center).length();
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return disc;
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}
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void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax)
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{
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//start with static aabb
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getAabb(curTrans,temporalAabbMin,temporalAabbMax);
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btScalar temporalAabbMaxx = temporalAabbMax.getX();
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btScalar temporalAabbMaxy = temporalAabbMax.getY();
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btScalar temporalAabbMaxz = temporalAabbMax.getZ();
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btScalar temporalAabbMinx = temporalAabbMin.getX();
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btScalar temporalAabbMiny = temporalAabbMin.getY();
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btScalar temporalAabbMinz = temporalAabbMin.getZ();
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// add linear motion
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btVector3 linMotion = linvel*timeStep;
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//todo: simd would have a vector max/min operation, instead of per-element access
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if (linMotion.x() > btScalar(0.))
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temporalAabbMaxx += linMotion.x();
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else
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temporalAabbMinx += linMotion.x();
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if (linMotion.y() > btScalar(0.))
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temporalAabbMaxy += linMotion.y();
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else
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temporalAabbMiny += linMotion.y();
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if (linMotion.z() > btScalar(0.))
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temporalAabbMaxz += linMotion.z();
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else
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temporalAabbMinz += linMotion.z();
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//add conservative angular motion
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btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
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btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
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temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
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temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
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temporalAabbMin -= angularMotion3d;
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temporalAabbMax += angularMotion3d;
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}
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