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.
116 lines
2.4 KiB
C++
116 lines
2.4 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
*
|
|
* 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 "MultiSphereShape.h"
|
|
#include "CollisionShapes/CollisionMargin.h"
|
|
#include "SimdQuaternion.h"
|
|
|
|
MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)
|
|
:m_inertiaHalfExtents(inertiaHalfExtents)
|
|
{
|
|
m_minRadius = 1e30f;
|
|
|
|
m_numSpheres = numSpheres;
|
|
for (int i=0;i<m_numSpheres;i++)
|
|
{
|
|
m_localPositions[i] = positions[i];
|
|
m_radi[i] = radi[i];
|
|
if (radi[i] < m_minRadius)
|
|
m_minRadius = radi[i];
|
|
}
|
|
SetMargin(m_minRadius);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
SimdVector3 MultiSphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
|
|
{
|
|
int i;
|
|
SimdVector3 supVec(0,0,0);
|
|
|
|
SimdScalar maxDot(-1e30f);
|
|
|
|
|
|
SimdVector3 vec = vec0;
|
|
SimdScalar lenSqr = vec.length2();
|
|
if (lenSqr < 0.0001f)
|
|
{
|
|
vec.setValue(1,0,0);
|
|
} else
|
|
{
|
|
float rlen = 1.f / SimdSqrt(lenSqr );
|
|
vec *= rlen;
|
|
}
|
|
|
|
SimdVector3 vtx;
|
|
SimdScalar newDot;
|
|
|
|
const SimdVector3* pos = &m_localPositions[0];
|
|
const SimdScalar* rad = &m_radi[0];
|
|
|
|
for (i=0;i<m_numSpheres;i++)
|
|
{
|
|
vtx = (*pos) +vec*((*rad)-m_minRadius);
|
|
pos++;
|
|
rad++;
|
|
newDot = vec.dot(vtx);
|
|
if (newDot > maxDot)
|
|
{
|
|
maxDot = newDot;
|
|
supVec = vtx;
|
|
}
|
|
}
|
|
|
|
return supVec;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MultiSphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
|
{
|
|
//as an approximation, take the inertia of the box that bounds the spheres
|
|
|
|
SimdTransform ident;
|
|
ident.setIdentity();
|
|
// SimdVector3 aabbMin,aabbMax;
|
|
|
|
// GetAabb(ident,aabbMin,aabbMax);
|
|
|
|
SimdVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
|
|
|
|
float margin = CONVEX_DISTANCE_MARGIN;
|
|
|
|
SimdScalar lx=2.f*(halfExtents[0]+margin);
|
|
SimdScalar ly=2.f*(halfExtents[1]+margin);
|
|
SimdScalar lz=2.f*(halfExtents[2]+margin);
|
|
const SimdScalar x2 = lx*lx;
|
|
const SimdScalar y2 = ly*ly;
|
|
const SimdScalar z2 = lz*lz;
|
|
const SimdScalar scaledmass = mass * 0.08333333f;
|
|
|
|
inertia[0] = scaledmass * (y2+z2);
|
|
inertia[1] = scaledmass * (x2+z2);
|
|
inertia[2] = scaledmass * (x2+y2);
|
|
|
|
}
|
|
|
|
|
|
|