dali-physics/third-party/bullet3/src/BulletCollision/CollisionShapes/btUniformScalingShape.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 "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 {
  53         ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
  54         btVector3 tmpInertia;
  55         m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
  56         inertia = tmpInertia * m_uniformScalingFactor;
  57 }
  58
  59 ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
  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 }