forked from bartvdbraak/blender
279 lines
6.1 KiB
C++
279 lines
6.1 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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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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#ifndef OBB_BOX_MINKOWSKI_H
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#define OBB_BOX_MINKOWSKI_H
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#include "PolyhedralConvexShape.h"
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#include "NarrowPhaseCollision/CollisionMargin.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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#include "SimdPoint3.h"
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#include "SimdMinMax.h"
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///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
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class BoxShape: public PolyhedralConvexShape
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{
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SimdVector3 m_boxHalfExtents1;
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public:
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virtual ~BoxShape()
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{
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}
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SimdVector3 GetHalfExtents() const;
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//{ return m_boxHalfExtents1 * m_localScaling;}
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//const SimdVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
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virtual int GetShapeType() const { return BOX_SHAPE_PROXYTYPE;}
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virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
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{
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SimdVector3 halfExtents = GetHalfExtents();
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SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
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halfExtents -= margin;
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SimdVector3 supVertex;
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supVertex = SimdPoint3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
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vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
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vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
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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() == 0.f)
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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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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
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{
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SimdVector3 halfExtents = GetHalfExtents();
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SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
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halfExtents -= margin;
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return SimdVector3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
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vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
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vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
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}
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BoxShape( const SimdVector3& boxHalfExtents) : m_boxHalfExtents1(boxHalfExtents){};
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virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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float margin = GetMargin();
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SimdVector3 halfExtents = GetHalfExtents();
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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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// inertia.x() = scaledmass * (y2+z2);
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// inertia.y() = scaledmass * (x2+z2);
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// inertia.z() = scaledmass * (x2+y2);
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}
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virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
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{
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//this plane might not be aligned...
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SimdVector4 plane ;
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GetPlaneEquation(plane,i);
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planeNormal = SimdVector3(plane.getX(),plane.getY(),plane.getZ());
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planeSupport = LocalGetSupportingVertex(-planeNormal);
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}
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virtual int GetNumPlanes() const
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{
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return 6;
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}
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virtual int GetNumVertices() const
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{
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return 8;
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}
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virtual int GetNumEdges() const
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{
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return 12;
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}
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virtual void GetVertex(int i,SimdVector3& vtx) const
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{
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SimdVector3 halfExtents = GetHalfExtents();
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vtx = SimdVector3(
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halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
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halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
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halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
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}
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virtual void GetPlaneEquation(SimdVector4& plane,int i) const
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{
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SimdVector3 halfExtents = GetHalfExtents();
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switch (i)
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{
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case 0:
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plane.setValue(1.f,0.f,0.f);
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plane[3] = -halfExtents.x();
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break;
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case 1:
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plane.setValue(-1.f,0.f,0.f);
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plane[3] = -halfExtents.x();
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break;
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case 2:
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plane.setValue(0.f,1.f,0.f);
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plane[3] = -halfExtents.y();
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break;
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case 3:
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plane.setValue(0.f,-1.f,0.f);
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plane[3] = -halfExtents.y();
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break;
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case 4:
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plane.setValue(0.f,0.f,1.f);
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plane[3] = -halfExtents.z();
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break;
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case 5:
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plane.setValue(0.f,0.f,-1.f);
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plane[3] = -halfExtents.z();
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break;
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default:
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assert(0);
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}
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}
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virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
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//virtual void GetEdge(int i,Edge& edge) const
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{
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int edgeVert0 = 0;
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int edgeVert1 = 0;
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switch (i)
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{
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case 0:
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edgeVert0 = 0;
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edgeVert1 = 1;
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break;
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case 1:
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edgeVert0 = 0;
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edgeVert1 = 2;
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break;
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case 2:
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edgeVert0 = 1;
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edgeVert1 = 3;
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break;
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case 3:
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edgeVert0 = 2;
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edgeVert1 = 3;
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break;
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case 4:
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edgeVert0 = 0;
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edgeVert1 = 4;
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break;
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case 5:
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edgeVert0 = 1;
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edgeVert1 = 5;
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break;
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case 6:
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edgeVert0 = 2;
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edgeVert1 = 6;
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break;
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case 7:
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edgeVert0 = 3;
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edgeVert1 = 7;
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break;
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case 8:
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edgeVert0 = 4;
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edgeVert1 = 5;
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break;
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case 9:
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edgeVert0 = 4;
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edgeVert1 = 6;
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break;
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case 10:
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edgeVert0 = 5;
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edgeVert1 = 7;
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break;
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case 11:
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edgeVert0 = 6;
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edgeVert1 = 7;
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break;
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default:
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ASSERT(0);
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}
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GetVertex(edgeVert0,pa );
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GetVertex(edgeVert1,pb );
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}
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virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
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{
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SimdVector3 halfExtents = GetHalfExtents();
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//SimdScalar minDist = 2*tolerance;
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bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
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(pt.x() >= (-halfExtents.x()-tolerance)) &&
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(pt.y() <= (halfExtents.y()+tolerance)) &&
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(pt.y() >= (-halfExtents.y()-tolerance)) &&
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(pt.z() <= (halfExtents.z()+tolerance)) &&
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(pt.z() >= (-halfExtents.z()-tolerance));
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return result;
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}
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//debugging
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virtual char* GetName()const
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{
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return "Box";
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}
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};
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#endif //OBB_BOX_MINKOWSKI_H
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