219 lines
4.5 KiB
C++
219 lines
4.5 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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 "btTetrahedronShape.h"
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#include "LinearMath/btMatrix3x3.h"
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btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
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m_numVertices(0)
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{
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m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
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}
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btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
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m_numVertices(0)
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{
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m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
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addVertex(pt0);
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}
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btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
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m_numVertices(0)
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{
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m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
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addVertex(pt0);
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addVertex(pt1);
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}
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btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
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m_numVertices(0)
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{
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m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
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addVertex(pt0);
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addVertex(pt1);
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addVertex(pt2);
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}
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btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
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m_numVertices(0)
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{
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m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
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addVertex(pt0);
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addVertex(pt1);
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addVertex(pt2);
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addVertex(pt3);
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}
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void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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#if 1
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btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
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#else
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aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
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aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
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//just transform the vertices in worldspace, and take their AABB
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for (int i=0;i<m_numVertices;i++)
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{
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btVector3 worldVertex = t(m_vertices[i]);
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aabbMin.setMin(worldVertex);
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aabbMax.setMax(worldVertex);
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}
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#endif
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}
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void btBU_Simplex1to4::addVertex(const btVector3& pt)
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{
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m_vertices[m_numVertices++] = pt;
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recalcLocalAabb();
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}
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int btBU_Simplex1to4::getNumVertices() const
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{
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return m_numVertices;
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}
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int btBU_Simplex1to4::getNumEdges() const
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{
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//euler formula, F-E+V = 2, so E = F+V-2
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switch (m_numVertices)
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{
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case 0:
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return 0;
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case 1: return 0;
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case 2: return 1;
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case 3: return 3;
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case 4: return 6;
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}
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return 0;
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}
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void btBU_Simplex1to4::getEdge(int i,btVector3& pa,btVector3& pb) const
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{
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switch (m_numVertices)
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{
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case 2:
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pa = m_vertices[0];
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pb = m_vertices[1];
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break;
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case 3:
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switch (i)
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{
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case 0:
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pa = m_vertices[0];
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pb = m_vertices[1];
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break;
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case 1:
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pa = m_vertices[1];
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pb = m_vertices[2];
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break;
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case 2:
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pa = m_vertices[2];
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pb = m_vertices[0];
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break;
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}
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break;
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case 4:
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switch (i)
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{
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case 0:
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pa = m_vertices[0];
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pb = m_vertices[1];
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break;
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case 1:
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pa = m_vertices[1];
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pb = m_vertices[2];
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break;
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case 2:
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pa = m_vertices[2];
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pb = m_vertices[0];
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break;
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case 3:
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pa = m_vertices[0];
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pb = m_vertices[3];
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break;
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case 4:
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pa = m_vertices[1];
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pb = m_vertices[3];
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break;
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case 5:
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pa = m_vertices[2];
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pb = m_vertices[3];
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break;
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}
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}
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}
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void btBU_Simplex1to4::getVertex(int i,btVector3& vtx) const
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{
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vtx = m_vertices[i];
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}
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int btBU_Simplex1to4::getNumPlanes() const
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{
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switch (m_numVertices)
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{
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case 0:
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return 0;
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case 1:
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return 0;
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case 2:
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return 0;
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case 3:
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return 2;
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case 4:
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return 4;
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default:
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{
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}
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}
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return 0;
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}
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void btBU_Simplex1to4::getPlane(btVector3&, btVector3& ,int ) const
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{
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}
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int btBU_Simplex1to4::getIndex(int ) const
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{
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return 0;
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}
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bool btBU_Simplex1to4::isInside(const btVector3& ,btScalar ) const
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{
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return false;
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}
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