dali-physics/third-party/bullet3/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp

   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 "btConvexInternalShape.h"
  17
  18 btConvexInternalShape::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
  74 btConvexInternalAabbCachingShape::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 }