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

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btUniformScalingShape.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 "btUniformScalingShape.h"
17
18btUniformScalingShape::btUniformScalingShape(btConvexShape* convexChildShape, btScalar uniformScalingFactor) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
19{
20 m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
21}
22
23btUniformScalingShape::~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::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) 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:109
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