2 This source file is part of GIMPACT Library.
4 For the latest info, see http://gimpact.sourceforge.net/
6 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
7 email: projectileman@yahoo.com
10 This software is provided 'as-is', without any express or implied warranty.
11 In no event will the authors be held liable for any damages arising from the use of this software.
12 Permission is granted to anyone to use this software for any purpose,
13 including commercial applications, and to alter it and redistribute it freely,
14 subject to the following restrictions:
16 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.
17 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
18 3. This notice may not be removed or altered from any source distribution.
22 #include "btGImpactShape.h"
23 #include "btGImpactMassUtil.h"
26 #define CALC_EXACT_INERTIA 1
28 void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
31 #ifdef CALC_EXACT_INERTIA
32 inertia.setValue(0.f,0.f,0.f);
34 int i = this->getNumChildShapes();
35 btScalar shapemass = mass/btScalar(i);
39 btVector3 temp_inertia;
40 m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia);
41 if(childrenHasTransform())
43 inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]);
47 inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity());
56 btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
57 btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
58 btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
59 const btScalar x2 = lx*lx;
60 const btScalar y2 = ly*ly;
61 const btScalar z2 = lz*lz;
62 const btScalar scaledmass = mass * btScalar(0.08333333);
64 inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
72 void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const
77 #ifdef CALC_EXACT_INERTIA
78 inertia.setValue(0.f,0.f,0.f);
80 int i = this->getVertexCount();
81 btScalar pointmass = mass/btScalar(i);
85 btVector3 pointintertia;
86 this->getVertex(i,pointintertia);
87 pointintertia = gim_get_point_inertia(pointintertia,pointmass);
88 inertia+=pointintertia;
95 btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
96 btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
97 btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
98 const btScalar x2 = lx*lx;
99 const btScalar y2 = ly*ly;
100 const btScalar z2 = lz*lz;
101 const btScalar scaledmass = mass * btScalar(0.08333333);
103 inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
110 void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
113 #ifdef CALC_EXACT_INERTIA
114 inertia.setValue(0.f,0.f,0.f);
116 int i = this->getMeshPartCount();
117 btScalar partmass = mass/btScalar(i);
121 btVector3 partinertia;
122 getMeshPart(i)->calculateLocalInertia(partmass,partinertia);
123 inertia+=partinertia;
130 btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
131 btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
132 btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
133 const btScalar x2 = lx*lx;
134 const btScalar y2 = ly*ly;
135 const btScalar z2 = lz*lz;
136 const btScalar scaledmass = mass * btScalar(0.08333333);
138 inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
143 void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
148 void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
155 btAlignedObjectArray<int> collided;
156 m_box_set.boxQuery(box,collided);
158 if(collided.size()==0)
164 int part = (int)getPart();
165 btPrimitiveTriangle triangle;
166 int i = collided.size();
169 this->getPrimitiveTriangle(collided[i],triangle);
170 callback->processTriangle(triangle.m_vertices,part,collided[i]);
176 void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
178 int i = m_mesh_parts.size();
181 m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax);
186 ///fills the dataBuffer and returns the struct name (and 0 on failure)
187 const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
189 btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*) dataBuffer;
191 btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
193 m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
195 trimeshData->m_collisionMargin = float(m_collisionMargin);
197 localScaling.serializeFloat(trimeshData->m_localScaling);
199 trimeshData->m_gimpactSubType = int(getGImpactShapeType());
201 return "btGImpactMeshShapeData";