forked from bartvdbraak/blender
75 lines
2.0 KiB
C++
75 lines
2.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ConvexShape.h"
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ConvexShape::~ConvexShape()
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{
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}
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ConvexShape::ConvexShape()
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:m_collisionMargin(CONVEX_DISTANCE_MARGIN),
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m_localScaling(1.f,1.f,1.f)
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{
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}
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void ConvexShape::setLocalScaling(const SimdVector3& scaling)
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{
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m_localScaling = scaling;
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}
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void ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const
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{
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SimdScalar margin = GetMargin();
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for (int i=0;i<3;i++)
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{
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SimdVector3 vec(0.f,0.f,0.f);
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vec[i] = 1.f;
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SimdVector3 sv = LocalGetSupportingVertex(vec*trans.getBasis());
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SimdVector3 tmp = trans(sv);
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maxAabb[i] = tmp[i]+margin;
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vec[i] = -1.f;
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tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
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minAabb[i] = tmp[i]-margin;
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}
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};
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SimdVector3 ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
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{
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SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
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if ( GetMargin()!=0.f )
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{
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SimdVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(-1.f,-1.f,-1.f);
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}
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vecnorm.normalize();
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supVertex+= GetMargin() * vecnorm;
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}
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return supVertex;
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}
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