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

Bullet Collision Detection & Physics Library

btUniformScalingShape.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 "btUniformScalingShape.h"
17
18 btUniformScalingShape::btUniformScalingShape(btConvexShape* convexChildShape, btScalar uniformScalingFactor) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
19 {
20 m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
21 }
22
23 btUniformScalingShape::~btUniformScalingShape()
24 {
25 }
26
27 btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
28 {
29 btVector3 tmpVertex;
30 tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
31 return tmpVertex * m_uniformScalingFactor;
32 }
33
34 void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
35 {
36 m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
37 int i;
38 for (i = 0; i < numVectors; i++)
39 {
40 supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
41 }
42 }
43
44 btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec) const
45 {
46 btVector3 tmpVertex;
47 tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
48 return tmpVertex * m_uniformScalingFactor;
49 }
50
51 void btUniformScalingShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
52 {
54 btVector3 tmpInertia;
55 m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
56 inertia = tmpInertia * m_uniformScalingFactor;
57 }
58
60 void btUniformScalingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
61 {
62 getAabbSlow(trans, aabbMin, aabbMax);
63 }
64
65 void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
66 {
67 #if 1
68 btVector3 _directions[] =
69 {
70 btVector3(1., 0., 0.),
71 btVector3(0., 1., 0.),
72 btVector3(0., 0., 1.),
73 btVector3(-1., 0., 0.),
74 btVector3(0., -1., 0.),
75 btVector3(0., 0., -1.)};
76
77 btVector3 _supporting[] =
78 {
79 btVector3(0., 0., 0.),
80 btVector3(0., 0., 0.),
81 btVector3(0., 0., 0.),
82 btVector3(0., 0., 0.),
83 btVector3(0., 0., 0.),
84 btVector3(0., 0., 0.)};
85
86 for (int i = 0; i < 6; i++)
87 {
88 _directions[i] = _directions[i] * t.getBasis();
89 }
90
91 batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
92
93 btVector3 aabbMin1(0, 0, 0), aabbMax1(0, 0, 0);
94
95 for (int i = 0; i < 3; ++i)
96 {
97 aabbMax1[i] = t(_supporting[i])[i];
98 aabbMin1[i] = t(_supporting[i + 3])[i];
99 }
100 btVector3 marginVec(getMargin(), getMargin(), getMargin());
101 aabbMin = aabbMin1 - marginVec;
102 aabbMax = aabbMax1 + marginVec;
103
104 #else
105
106 btScalar margin = getMargin();
107 for (int i = 0; i < 3; i++)
108 {
109 btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
110 vec[i] = btScalar(1.);
111 btVector3 sv = localGetSupportingVertex(vec * t.getBasis());
112 btVector3 tmp = t(sv);
113 aabbMax[i] = tmp[i] + margin;
114 vec[i] = btScalar(-1.);
115 sv = localGetSupportingVertex(vec * t.getBasis());
116 tmp = t(sv);
117 aabbMin[i] = tmp[i] - margin;
118 }
119
120 #endif
121 }
122
123 void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
124 {
125 m_childConvexShape->setLocalScaling(scaling);
126 }
127
128 const btVector3& btUniformScalingShape::getLocalScaling() const
129 {
130 return m_childConvexShape->getLocalScaling();
131 }
132
133 void btUniformScalingShape::setMargin(btScalar margin)
134 {
135 m_childConvexShape->setMargin(margin);
136 }
137 btScalar btUniformScalingShape::getMargin() const
138 {
139 return m_childConvexShape->getMargin() * m_uniformScalingFactor;
140 }
141
142 int btUniformScalingShape::getNumPreferredPenetrationDirections() const
143 {
144 return m_childConvexShape->getNumPreferredPenetrationDirections();
145 }
146
147 void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
148 {
149 m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
150 }
UNIFORM_SCALING_SHAPE_PROXYTYPE
@ UNIFORM_SCALING_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:45
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btUniformScalingShape.h
btCollisionShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btConvexShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btConvexShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)=0
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btConvexShape::setMargin
virtual void setMargin(btScalar margin)=0
btConvexShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const =0
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btConvexShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btUniformScalingShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btUniformScalingShape.cpp:51
btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btUniformScalingShape.cpp:34
btUniformScalingShape::~btUniformScalingShape
virtual ~btUniformScalingShape()
Definition: btUniformScalingShape.cpp:23
btUniformScalingShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btUniformScalingShape.cpp:147
btUniformScalingShape::m_uniformScalingFactor
btScalar m_uniformScalingFactor
Definition: btUniformScalingShape.h:29
btUniformScalingShape::btUniformScalingShape
btUniformScalingShape(btConvexShape *convexChildShape, btScalar uniformScalingFactor)
Definition: btUniformScalingShape.cpp:18
btUniformScalingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btUniformScalingShape.cpp:123
btUniformScalingShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btUniformScalingShape.cpp:27
btUniformScalingShape::getMargin
virtual btScalar getMargin() const
Definition: btUniformScalingShape.cpp:137
btUniformScalingShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btUniformScalingShape.cpp:65
btUniformScalingShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btUniformScalingShape.cpp:133
btUniformScalingShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btUniformScalingShape.cpp:44
btUniformScalingShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition: btUniformScalingShape.h:27
btUniformScalingShape::getAabb
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: btUniformScalingShape.cpp:60
btUniformScalingShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btUniformScalingShape.cpp:142
btUniformScalingShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btUniformScalingShape.cpp:128
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82