Bullet Collision Detection & Physics Library
btConvexInternalShape.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #include "btConvexInternalShape.h"
17 
19  : m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)),
20  m_collisionMargin(CONVEX_DISTANCE_MARGIN)
21 {
22 }
23 
25 {
26  m_localScaling = scaling.absolute();
27 }
28 
29 void btConvexInternalShape::getAabbSlow(const btTransform& trans, btVector3& minAabb, btVector3& maxAabb) const
30 {
31 #ifndef __SPU__
32  //use localGetSupportingVertexWithoutMargin?
33  btScalar margin = getMargin();
34  for (int i = 0; i < 3; i++)
35  {
36  btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
37  vec[i] = btScalar(1.);
38 
39  btVector3 sv = localGetSupportingVertex(vec * trans.getBasis());
40 
41  btVector3 tmp = trans(sv);
42  maxAabb[i] = tmp[i] + margin;
43  vec[i] = btScalar(-1.);
44  tmp = trans(localGetSupportingVertex(vec * trans.getBasis()));
45  minAabb[i] = tmp[i] - margin;
46  }
47 #endif
48 }
49 
51 {
52 #ifndef __SPU__
53 
55 
56  if (getMargin() != btScalar(0.))
57  {
58  btVector3 vecnorm = vec;
59  if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
60  {
61  vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
62  }
63  vecnorm.normalize();
64  supVertex += getMargin() * vecnorm;
65  }
66  return supVertex;
67 
68 #else
69  btAssert(0);
70  return btVector3(0, 0, 0);
71 #endif //__SPU__
72 }
73 
76  m_localAabbMin(1, 1, 1),
77  m_localAabbMax(-1, -1, -1),
78  m_isLocalAabbValid(false)
79 {
80 }
81 
82 void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
83 {
84  getNonvirtualAabb(trans, aabbMin, aabbMax, getMargin());
85 }
86 
88 {
91 }
92 
94 {
95  m_isLocalAabbValid = true;
96 
97 #if 1
98  static const btVector3 _directions[] =
99  {
100  btVector3(1., 0., 0.),
101  btVector3(0., 1., 0.),
102  btVector3(0., 0., 1.),
103  btVector3(-1., 0., 0.),
104  btVector3(0., -1., 0.),
105  btVector3(0., 0., -1.)};
106 
107  btVector3 _supporting[] =
108  {
109  btVector3(0., 0., 0.),
110  btVector3(0., 0., 0.),
111  btVector3(0., 0., 0.),
112  btVector3(0., 0., 0.),
113  btVector3(0., 0., 0.),
114  btVector3(0., 0., 0.)};
115 
116  batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
117 
118  for (int i = 0; i < 3; ++i)
119  {
120  m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
121  m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
122  }
123 
124 #else
125 
126  for (int i = 0; i < 3; i++)
127  {
128  btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
129  vec[i] = btScalar(1.);
131  m_localAabbMax[i] = tmp[i] + m_collisionMargin;
132  vec[i] = btScalar(-1.);
133  tmp = localGetSupportingVertex(vec);
134  m_localAabbMin[i] = tmp[i] - m_collisionMargin;
135  }
136 #endif
137 }
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:523
btConvexInternalShape.h
btVector3::absolute
btVector3 absolute() const
Return a vector with the absolute values of each element.
Definition: btVector3.h:364
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:37
btConvexInternalShape::btConvexInternalShape
btConvexInternalShape()
Definition: btConvexInternalShape.cpp:18
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:28
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btConvexInternalAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btConvexInternalShape.h:193
CONVEX_DISTANCE_MARGIN
#define CONVEX_DISTANCE_MARGIN
The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btC...
Definition: btCollisionMargin.h:22
btConvexInternalAabbCachingShape::m_isLocalAabbValid
bool m_isLocalAabbValid
Definition: btConvexInternalShape.h:174
btConvexInternalShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btConvexInternalShape.cpp:50
btAssert
#define btAssert(x)
Definition: btScalar.h:133
btConvexInternalAabbCachingShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btConvexInternalShape.h:173
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:24
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btConvexInternalAabbCachingShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btConvexInternalShape.cpp:82
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
btConvexInternalAabbCachingShape::recalcLocalAabb
void recalcLocalAabb()
Definition: btConvexInternalShape.cpp:93
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape
btConvexInternalAabbCachingShape()
Definition: btConvexInternalShape.cpp:74
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvexInternalAabbCachingShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btConvexInternalShape.h:172
btConvexInternalAabbCachingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:87
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
btConvexInternalShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvexInternalShape.cpp:29
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251