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

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btConvexInternalShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btConvexInternalShape.h"
17
18btConvexInternalShape::btConvexInternalShape()
19 : m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)),
20 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
21{
22}
23
24 void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
25{
26 m_localScaling = scaling.absolute();
27}
28
29 void btConvexInternalShape::getAabbSlow(const btTransform& trans, btVector3& minAabb, btVector3& maxAabb) const
30{
31#ifndef __SPU__
32 //use localGetSupportingVertexWithoutMargin?
33 btScalar margin = getMargin();
34 for (int i = 0; i < 3; i++)
35 {
36 btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
37 vec[i] = btScalar(1.);
38
39 btVector3 sv = localGetSupportingVertex(vec * trans.getBasis());
40
41 btVector3 tmp = trans(sv);
42 maxAabb[i] = tmp[i] + margin;
43 vec[i] = btScalar(-1.);
44 tmp = trans(localGetSupportingVertex(vec * trans.getBasis()));
45 minAabb[i] = tmp[i] - margin;
46 }
47#endif
48}
49
50 btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec) const
51{
52#ifndef __SPU__
53
54 btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
55
56 if (getMargin() != btScalar(0.))
57 {
58 btVector3 vecnorm = vec;
59 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
60 {
61 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
62 }
63 vecnorm.normalize();
64 supVertex += getMargin() * vecnorm;
65 }
66 return supVertex;
67
68#else
69 btAssert(0);
70 return btVector3(0, 0, 0);
71#endif //__SPU__
72}
73
74btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape()
75 : btConvexInternalShape(),
76 m_localAabbMin(1, 1, 1),
77 m_localAabbMax(-1, -1, -1),
78 m_isLocalAabbValid(false)
79{
80}
81
82 void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
83{
84 getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
85}
86
87 void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling)
88{
89 btConvexInternalShape::setLocalScaling(scaling);
90 recalcLocalAabb();
91}
92
93 void btConvexInternalAabbCachingShape::recalcLocalAabb()
94{
95 m_isLocalAabbValid = true;
96
97#if 1
98 static const btVector3 _directions[] =
99 {
100 btVector3(1., 0., 0.),
101 btVector3(0., 1., 0.),
102 btVector3(0., 0., 1.),
103 btVector3(-1., 0., 0.),
104 btVector3(0., -1., 0.),
105 btVector3(0., 0., -1.)};
106
107 btVector3 _supporting[] =
108 {
109 btVector3(0., 0., 0.),
110 btVector3(0., 0., 0.),
111 btVector3(0., 0., 0.),
112 btVector3(0., 0., 0.),
113 btVector3(0., 0., 0.),
114 btVector3(0., 0., 0.)};
115
116 batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
117
118 for (int i = 0; i < 3; ++i)
119 {
120 m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
121 m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
122 }
123
124#else
125
126 for (int i = 0; i < 3; i++)
127 {
128 btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
129 vec[i] = btScalar(1.);
130 btVector3 tmp = localGetSupportingVertex(vec);
131 m_localAabbMax[i] = tmp[i] + m_collisionMargin;
132 vec[i] = btScalar(-1.);
133 tmp = localGetSupportingVertex(vec);
134 m_localAabbMin[i] = tmp[i] - m_collisionMargin;
135 }
136#endif
137}
CONVEX_DISTANCE_MARGIN
#define CONVEX_DISTANCE_MARGIN
The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btC...
Definition: btCollisionMargin.h:22
btConvexInternalShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btConvexInternalAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btConvexInternalShape.h:193
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape()
Definition: btConvexInternalShape.cpp:74
btConvexInternalAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:87
btConvexInternalAabbCachingShape::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: btConvexInternalShape.cpp:82
btConvexInternalAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btConvexInternalShape.h:173
btConvexInternalAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btConvexInternalShape.h:172
btConvexInternalAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btConvexInternalShape.cpp:93
btConvexInternalAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btConvexInternalShape.h:174
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:30
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:37
btConvexInternalShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btConvexInternalShape.cpp:50
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
btConvexInternalShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvexInternalShape.cpp:29
btConvexInternalShape::btConvexInternalShape
btConvexInternalShape()
Definition: btConvexInternalShape.cpp:18
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:24
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) 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:109
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::absolute
btVector3 absolute() const
Return a vector with the absolute values of each element.
Definition: btVector3.h:364
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303