forked from bartvdbraak/blender
71 lines
2.4 KiB
C++
71 lines
2.4 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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#include "CollisionShapes/CollisionShape.h"
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void CollisionShape::GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const
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{
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SimdTransform tr;
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tr.setIdentity();
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SimdVector3 aabbMin,aabbMax;
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GetAabb(tr,aabbMin,aabbMax);
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radius = (aabbMax-aabbMin).length()*0.5f;
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center = (aabbMin+aabbMax)*0.5f;
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}
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float CollisionShape::GetAngularMotionDisc() const
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{
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SimdVector3 center;
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float disc;
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GetBoundingSphere(center,disc);
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disc += (center).length();
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return disc;
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}
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void CollisionShape::CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax)
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{
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//start with static aabb
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GetAabb(curTrans,temporalAabbMin,temporalAabbMax);
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float temporalAabbMaxx = temporalAabbMax.getX();
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float temporalAabbMaxy = temporalAabbMax.getY();
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float temporalAabbMaxz = temporalAabbMax.getZ();
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float temporalAabbMinx = temporalAabbMin.getX();
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float temporalAabbMiny = temporalAabbMin.getY();
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float temporalAabbMinz = temporalAabbMin.getZ();
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// add linear motion
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SimdVector3 linMotion = linvel*timeStep;
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//todo: simd would have a vector max/min operation, instead of per-element access
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if (linMotion.x() > 0.f)
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temporalAabbMaxx += linMotion.x();
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else
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temporalAabbMinx += linMotion.x();
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if (linMotion.y() > 0.f)
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temporalAabbMaxy += linMotion.y();
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else
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temporalAabbMiny += linMotion.y();
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if (linMotion.z() > 0.f)
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temporalAabbMaxz += linMotion.z();
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else
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temporalAabbMinz += linMotion.z();
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//add conservative angular motion
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SimdScalar angularMotion = angvel.length() * GetAngularMotionDisc() * timeStep;
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SimdVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
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temporalAabbMin = SimdVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
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temporalAabbMax = SimdVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
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temporalAabbMin -= angularMotion3d;
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temporalAabbMax += angularMotion3d;
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}
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