forked from bartvdbraak/blender
71 lines
2.4 KiB
C++
71 lines
2.4 KiB
C++
|
/*
|
||
|
|
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
|
||
|
|
*
|
||
|
|
* Permission to use, copy, modify, distribute and sell this software
|
||
|
|
* and its documentation for any purpose is hereby granted without fee,
|
||
|
|
* provided that the above copyright notice appear in all copies.
|
||
|
|
* Erwin Coumans makes no representations about the suitability
|
||
|
|
* of this software for any purpose.
|
||
|
|
* It is provided "as is" without express or implied warranty.
|
||
|
|
*/
|
||
|
|
#include "CollisionShapes/CollisionShape.h"
|
||
|
|
|
||
|
|
void CollisionShape::GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const
|
||
|
|
{
|
||
|
|
SimdTransform tr;
|
||
|
|
tr.setIdentity();
|
||
|
|
SimdVector3 aabbMin,aabbMax;
|
||
|
|
|
||
|
|
GetAabb(tr,aabbMin,aabbMax);
|
||
|
|
|
||
|
|
radius = (aabbMax-aabbMin).length()*0.5f;
|
||
|
|
center = (aabbMin+aabbMax)*0.5f;
|
||
|
|
}
|
||
|
|
|
||
|
|
float CollisionShape::GetAngularMotionDisc() const
|
||
|
|
{
|
||
|
|
SimdVector3 center;
|
||
|
|
float disc;
|
||
|
|
GetBoundingSphere(center,disc);
|
||
|
|
disc += (center).length();
|
||
|
|
return disc;
|
||
|
|
}
|
||
|
|
|
||
|
|
void CollisionShape::CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax)
|
||
|
|
{
|
||
|
|
//start with static aabb
|
||
|
|
GetAabb(curTrans,temporalAabbMin,temporalAabbMax);
|
||
|
|
|
||
|
|
float temporalAabbMaxx = temporalAabbMax.getX();
|
||
|
|
float temporalAabbMaxy = temporalAabbMax.getY();
|
||
|
|
float temporalAabbMaxz = temporalAabbMax.getZ();
|
||
|
|
float temporalAabbMinx = temporalAabbMin.getX();
|
||
|
|
float temporalAabbMiny = temporalAabbMin.getY();
|
||
|
|
float temporalAabbMinz = temporalAabbMin.getZ();
|
||
|
|
|
||
|
|
// add linear motion
|
||
|
|
SimdVector3 linMotion = linvel*timeStep;
|
||
|
|
//todo: simd would have a vector max/min operation, instead of per-element access
|
||
|
|
if (linMotion.x() > 0.f)
|
||
|
|
temporalAabbMaxx += linMotion.x();
|
||
|
|
else
|
||
|
|
temporalAabbMinx += linMotion.x();
|
||
|
|
if (linMotion.y() > 0.f)
|
||
|
|
temporalAabbMaxy += linMotion.y();
|
||
|
|
else
|
||
|
|
temporalAabbMiny += linMotion.y();
|
||
|
|
if (linMotion.z() > 0.f)
|
||
|
|
temporalAabbMaxz += linMotion.z();
|
||
|
|
else
|
||
|
|
temporalAabbMinz += linMotion.z();
|
||
|
|
|
||
|
|
//add conservative angular motion
|
||
|
|
SimdScalar angularMotion = angvel.length() * GetAngularMotionDisc() * timeStep;
|
||
|
|
SimdVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
|
||
|
|
temporalAabbMin = SimdVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
|
||
|
|
temporalAabbMax = SimdVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
|
||
|
|
|
||
|
|
temporalAabbMin -= angularMotion3d;
|
||
|
|
temporalAabbMax += angularMotion3d;
|
||
|
|
}
|