116 lines
4.2 KiB
C++
116 lines
4.2 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "btUniformScalingShape.h"
|
|
|
|
btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor):
|
|
btConvexShape (), m_childConvexShape(convexChildShape),
|
|
m_uniformScalingFactor(uniformScalingFactor)
|
|
{
|
|
m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
|
|
}
|
|
|
|
btUniformScalingShape::~btUniformScalingShape()
|
|
{
|
|
}
|
|
|
|
|
|
btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
|
|
{
|
|
btVector3 tmpVertex;
|
|
tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
|
|
return tmpVertex*m_uniformScalingFactor;
|
|
}
|
|
|
|
void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
|
{
|
|
m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
|
|
int i;
|
|
for (i=0;i<numVectors;i++)
|
|
{
|
|
supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
|
|
}
|
|
}
|
|
|
|
|
|
btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
|
|
{
|
|
btVector3 tmpVertex;
|
|
tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
|
|
return tmpVertex*m_uniformScalingFactor;
|
|
}
|
|
|
|
|
|
void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
|
{
|
|
|
|
///this linear upscaling is not realistic, but we don't deal with large mass ratios...
|
|
btVector3 tmpInertia;
|
|
m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
|
|
inertia = tmpInertia * m_uniformScalingFactor;
|
|
}
|
|
|
|
|
|
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
|
void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
|
{
|
|
m_childConvexShape->getAabb(t,aabbMin,aabbMax);
|
|
btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
|
|
btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
|
|
|
|
aabbMin = aabbCenter - scaledAabbHalfExtends;
|
|
aabbMax = aabbCenter + scaledAabbHalfExtends;
|
|
|
|
}
|
|
|
|
void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
|
{
|
|
m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
|
|
btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
|
|
btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
|
|
|
|
aabbMin = aabbCenter - scaledAabbHalfExtends;
|
|
aabbMax = aabbCenter + scaledAabbHalfExtends;
|
|
}
|
|
|
|
void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
|
|
{
|
|
m_childConvexShape->setLocalScaling(scaling);
|
|
}
|
|
|
|
const btVector3& btUniformScalingShape::getLocalScaling() const
|
|
{
|
|
return m_childConvexShape->getLocalScaling();
|
|
}
|
|
|
|
void btUniformScalingShape::setMargin(btScalar margin)
|
|
{
|
|
m_childConvexShape->setMargin(margin);
|
|
}
|
|
btScalar btUniformScalingShape::getMargin() const
|
|
{
|
|
return m_childConvexShape->getMargin() * m_uniformScalingFactor;
|
|
}
|
|
|
|
int btUniformScalingShape::getNumPreferredPenetrationDirections() const
|
|
{
|
|
return m_childConvexShape->getNumPreferredPenetrationDirections();
|
|
}
|
|
|
|
void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
|
|
{
|
|
m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
|
|
}
|