Bullet Collision Detection & Physics Library: btTetrahedronShape.cpp Source File

Bullet Collision Detection & Physics Library

btTetrahedronShape.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 #include "btTetrahedronShape.h"
17 #include "LinearMath/btMatrix3x3.h"
18
19 btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape(),
20 m_numVertices(0)
21 {
22 m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
23 }
24
25 btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape(),
26 m_numVertices(0)
27 {
28 m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
29 addVertex(pt0);
30 }
31
32 btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1) : btPolyhedralConvexAabbCachingShape(),
33 m_numVertices(0)
34 {
35 m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
36 addVertex(pt0);
37 addVertex(pt1);
38 }
39
40 btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2) : btPolyhedralConvexAabbCachingShape(),
41 m_numVertices(0)
42 {
43 m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
44 addVertex(pt0);
45 addVertex(pt1);
46 addVertex(pt2);
47 }
48
49 btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3) : btPolyhedralConvexAabbCachingShape(),
50 m_numVertices(0)
51 {
52 m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
53 addVertex(pt0);
54 addVertex(pt1);
55 addVertex(pt2);
56 addVertex(pt3);
57 }
58
59 void btBU_Simplex1to4::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
60 {
61 #if 1
62 btPolyhedralConvexAabbCachingShape::getAabb(t, aabbMin, aabbMax);
63 #else
64 aabbMin.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
65 aabbMax.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
66
67 //just transform the vertices in worldspace, and take their AABB
68 for (int i = 0; i < m_numVertices; i++)
69 {
70 btVector3 worldVertex = t(m_vertices[i]);
71 aabbMin.setMin(worldVertex);
72 aabbMax.setMax(worldVertex);
73 }
74 #endif
75 }
76
77 void btBU_Simplex1to4::addVertex(const btVector3& pt)
78 {
79 m_vertices[m_numVertices++] = pt;
80 recalcLocalAabb();
81 }
82
83 int btBU_Simplex1to4::getNumVertices() const
84 {
85 return m_numVertices;
86 }
87
88 int btBU_Simplex1to4::getNumEdges() const
89 {
90 //euler formula, F-E+V = 2, so E = F+V-2
91
92 switch (m_numVertices)
93 {
94 case 0:
95 return 0;
96 case 1:
97 return 0;
98 case 2:
99 return 1;
100 case 3:
101 return 3;
102 case 4:
103 return 6;
104 }
105
106 return 0;
107 }
108
109 void btBU_Simplex1to4::getEdge(int i, btVector3& pa, btVector3& pb) const
110 {
111 switch (m_numVertices)
112 {
113 case 2:
114 pa = m_vertices[0];
115 pb = m_vertices[1];
116 break;
117 case 3:
118 switch (i)
119 {
120 case 0:
121 pa = m_vertices[0];
122 pb = m_vertices[1];
123 break;
124 case 1:
125 pa = m_vertices[1];
126 pb = m_vertices[2];
127 break;
128 case 2:
129 pa = m_vertices[2];
130 pb = m_vertices[0];
131 break;
132 }
133 break;
134 case 4:
135 switch (i)
136 {
137 case 0:
138 pa = m_vertices[0];
139 pb = m_vertices[1];
140 break;
141 case 1:
142 pa = m_vertices[1];
143 pb = m_vertices[2];
144 break;
145 case 2:
146 pa = m_vertices[2];
147 pb = m_vertices[0];
148 break;
149 case 3:
150 pa = m_vertices[0];
151 pb = m_vertices[3];
152 break;
153 case 4:
154 pa = m_vertices[1];
155 pb = m_vertices[3];
156 break;
157 case 5:
158 pa = m_vertices[2];
159 pb = m_vertices[3];
160 break;
161 }
162 }
163 }
164
165 void btBU_Simplex1to4::getVertex(int i, btVector3& vtx) const
166 {
167 vtx = m_vertices[i];
168 }
169
170 int btBU_Simplex1to4::getNumPlanes() const
171 {
172 switch (m_numVertices)
173 {
174 case 0:
175 return 0;
176 case 1:
177 return 0;
178 case 2:
179 return 0;
180 case 3:
181 return 2;
182 case 4:
183 return 4;
184 default:
185 {
186 }
187 }
188 return 0;
189 }
190
191 void btBU_Simplex1to4::getPlane(btVector3&, btVector3&, int) const
192 {
193 }
194
195 int btBU_Simplex1to4::getIndex(int) const
196 {
197 return 0;
198 }
199
200 bool btBU_Simplex1to4::isInside(const btVector3&, btScalar) const
201 {
202 return false;
203 }
btBU_Simplex1to4::getNumEdges
virtual int getNumEdges() const
Definition: btTetrahedronShape.cpp:88
btBU_Simplex1to4::getNumVertices
virtual int getNumVertices() const
Definition: btTetrahedronShape.cpp:83
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btTetrahedronShape.h
btMatrix3x3.h
btBU_Simplex1to4::getIndex
virtual int getIndex(int i) const
Definition: btTetrahedronShape.cpp:195
btBU_Simplex1to4::m_numVertices
int m_numVertices
Definition: btTetrahedronShape.h:27
btBU_Simplex1to4::getNumPlanes
virtual int getNumPlanes() const
Definition: btTetrahedronShape.cpp:170
btBU_Simplex1to4::getVertex
virtual void getVertex(int i, btVector3 &vtx) const
Definition: btTetrahedronShape.cpp:165
btBU_Simplex1to4::getPlane
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
Definition: btTetrahedronShape.cpp:191
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btBU_Simplex1to4::btBU_Simplex1to4
btBU_Simplex1to4()
Definition: btTetrahedronShape.cpp:19
btBU_Simplex1to4::addVertex
void addVertex(const btVector3 &pt)
Definition: btTetrahedronShape.cpp:77
TETRAHEDRAL_SHAPE_PROXYTYPE
@ TETRAHEDRAL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:32
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:68
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btBU_Simplex1to4::getEdge
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
Definition: btTetrahedronShape.cpp:109
btVector3::setMax
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
Definition: btVector3.h:609
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btBU_Simplex1to4::isInside
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
Definition: btTetrahedronShape.cpp:200
btBU_Simplex1to4::getAabb
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...
Definition: btTetrahedronShape.cpp:59
btPolyhedralConvexAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btPolyhedralConvexShape.cpp:505
btVector3::setMin
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
Definition: btVector3.h:626
btBU_Simplex1to4::m_vertices
btVector3 m_vertices[4]
Definition: btTetrahedronShape.h:28
btPolyhedralConvexAabbCachingShape::getAabb
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...
Definition: btPolyhedralConvexShape.cpp:500