forked from bartvdbraak/blender
9119b6e8a5
'Bullet/CollisionShapes/ConvexTriangleCallback.cpp', 'Bullet/CollisionShapes/EmptyShape.cpp', 'Bullet/CollisionShapes/OptimizedBvh.cpp', 'Bullet/CollisionShapes/TriangleCallback.cpp', 'Bullet/CollisionShapes/TriangleIndexVertexArray.cpp', 'Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp'. Sorry, no armatures fix yet.
78 lines
1.7 KiB
C++
78 lines
1.7 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include <CollisionShapes/PolyhedralConvexShape.h>
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PolyhedralConvexShape::PolyhedralConvexShape()
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{
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}
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SimdVector3 PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
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{
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int i;
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SimdVector3 supVec(0,0,0);
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SimdScalar maxDot(-1e30f);
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SimdVector3 vec = vec0;
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SimdScalar lenSqr = vec.length2();
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if (lenSqr < 0.0001f)
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{
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vec.setValue(1,0,0);
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} else
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{
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float rlen = 1.f / SimdSqrt(lenSqr );
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vec *= rlen;
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}
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SimdVector3 vtx;
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SimdScalar newDot;
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for (i=0;i<GetNumVertices();i++)
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{
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GetVertex(i,vtx);
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return supVec;
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}
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void PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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//not yet, return box inertia
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float margin = GetMargin();
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SimdTransform ident;
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ident.setIdentity();
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SimdVector3 aabbMin,aabbMax;
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GetAabb(ident,aabbMin,aabbMax);
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SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
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SimdScalar lx=2.f*(halfExtents.x()+margin);
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SimdScalar ly=2.f*(halfExtents.y()+margin);
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SimdScalar lz=2.f*(halfExtents.z()+margin);
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const SimdScalar x2 = lx*lx;
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const SimdScalar y2 = ly*ly;
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const SimdScalar z2 = lz*lz;
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const SimdScalar scaledmass = mass * 0.08333333f;
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inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
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}
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