Bullet Collision Detection & Physics Library
btConvexInternalShape.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 
17 #include "btConvexInternalShape.h"
18 
19 
20 
22 : m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
23 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
24 {
25 }
26 
27 
29 {
30  m_localScaling = scaling.absolute();
31 }
32 
33 
34 
35 void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
36 {
37 #ifndef __SPU__
38  //use localGetSupportingVertexWithoutMargin?
39  btScalar margin = getMargin();
40  for (int i=0;i<3;i++)
41  {
42  btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
43  vec[i] = btScalar(1.);
44 
46 
47  btVector3 tmp = trans(sv);
48  maxAabb[i] = tmp[i]+margin;
49  vec[i] = btScalar(-1.);
50  tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
51  minAabb[i] = tmp[i]-margin;
52  }
53 #endif
54 }
55 
56 
57 
59 {
60 #ifndef __SPU__
61 
63 
64  if ( getMargin()!=btScalar(0.) )
65  {
66  btVector3 vecnorm = vec;
67  if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
68  {
69  vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
70  }
71  vecnorm.normalize();
72  supVertex+= getMargin() * vecnorm;
73  }
74  return supVertex;
75 
76 #else
77  btAssert(0);
78  return btVector3(0,0,0);
79 #endif //__SPU__
80 
81  }
82 
83 
86 m_localAabbMin(1,1,1),
87 m_localAabbMax(-1,-1,-1),
88 m_isLocalAabbValid(false)
89 {
90 }
91 
92 
94 {
95  getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
96 }
97 
99 {
101  recalcLocalAabb();
102 }
103 
104 
106 {
107  m_isLocalAabbValid = true;
108 
109  #if 1
110  static const btVector3 _directions[] =
111  {
112  btVector3( 1., 0., 0.),
113  btVector3( 0., 1., 0.),
114  btVector3( 0., 0., 1.),
115  btVector3( -1., 0., 0.),
116  btVector3( 0., -1., 0.),
117  btVector3( 0., 0., -1.)
118  };
119 
120  btVector3 _supporting[] =
121  {
122  btVector3( 0., 0., 0.),
123  btVector3( 0., 0., 0.),
124  btVector3( 0., 0., 0.),
125  btVector3( 0., 0., 0.),
126  btVector3( 0., 0., 0.),
127  btVector3( 0., 0., 0.)
128  };
129 
130  batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
131 
132  for ( int i = 0; i < 3; ++i )
133  {
134  m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
135  m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
136  }
137 
138  #else
139 
140  for (int i=0;i<3;i++)
141  {
142  btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
143  vec[i] = btScalar(1.);
145  m_localAabbMax[i] = tmp[i]+m_collisionMargin;
146  vec[i] = btScalar(-1.);
147  tmp = localGetSupportingVertex(vec);
148  m_localAabbMin[i] = tmp[i]-m_collisionMargin;
149  }
150  #endif
151 }
#define SIMD_EPSILON
Definition: btScalar.h:448
#define CONVEX_DISTANCE_MARGIN
The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btC...
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
#define btAssert(x)
Definition: btScalar.h:101
btVector3 absolute() const
Return a vector will the absolute values of each element.
Definition: btVector3.h:360
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
virtual btScalar getMargin() const
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:297
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual void setLocalScaling(const btVector3 &scaling)
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setLocalScaling(const btVector3 &scaling)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266
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...