108 lines
3.4 KiB
C++
108 lines
3.4 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 "btCompoundShape.h"
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#include "btCollisionShape.h"
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btCompoundShape::btCompoundShape()
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:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
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m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
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m_aabbTree(0),
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m_collisionMargin(btScalar(0.)),
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m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
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{
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}
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btCompoundShape::~btCompoundShape()
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{
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}
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void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
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{
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//m_childTransforms.push_back(localTransform);
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//m_childShapes.push_back(shape);
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btCompoundShapeChild child;
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child.m_transform = localTransform;
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child.m_childShape = shape;
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child.m_childShapeType = shape->getShapeType();
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child.m_childMargin = shape->getMargin();
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m_children.push_back(child);
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//extend the local aabbMin/aabbMax
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btVector3 localAabbMin,localAabbMax;
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shape->getAabb(localTransform,localAabbMin,localAabbMax);
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for (int i=0;i<3;i++)
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{
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if (m_localAabbMin[i] > localAabbMin[i])
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{
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m_localAabbMin[i] = localAabbMin[i];
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}
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if (m_localAabbMax[i] < localAabbMax[i])
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{
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m_localAabbMax[i] = localAabbMax[i];
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}
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}
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}
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///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
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void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
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{
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btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
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btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
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btMatrix3x3 abs_b = trans.getBasis().absolute();
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btPoint3 center = trans(localCenter);
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btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
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abs_b[1].dot(localHalfExtents),
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abs_b[2].dot(localHalfExtents));
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extent += btVector3(getMargin(),getMargin(),getMargin());
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
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{
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//approximation: take the inertia from the aabb for now
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btTransform ident;
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ident.setIdentity();
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btVector3 aabbMin,aabbMax;
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getAabb(ident,aabbMin,aabbMax);
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btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
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btScalar lx=btScalar(2.)*(halfExtents.x());
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btScalar ly=btScalar(2.)*(halfExtents.y());
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btScalar lz=btScalar(2.)*(halfExtents.z());
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inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
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inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
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inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
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}
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