Bullet Collision Detection & Physics Library
btUniformScalingShape.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 "btUniformScalingShape.h"
17 
18 btUniformScalingShape::btUniformScalingShape(btConvexShape* convexChildShape, btScalar uniformScalingFactor) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
19 {
21 }
22 
24 {
25 }
26 
28 {
29  btVector3 tmpVertex;
31  return tmpVertex * m_uniformScalingFactor;
32 }
33 
34 void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
35 {
36  m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
37  int i;
38  for (i = 0; i < numVectors; i++)
39  {
40  supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
41  }
42 }
43 
45 {
46  btVector3 tmpVertex;
48  return tmpVertex * m_uniformScalingFactor;
49 }
50 
52 {
54  btVector3 tmpInertia;
55  m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
56  inertia = tmpInertia * m_uniformScalingFactor;
57 }
58 
60 void btUniformScalingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
61 {
62  getAabbSlow(trans, aabbMin, aabbMax);
63 }
64 
65 void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
66 {
67 #if 1
68  btVector3 _directions[] =
69  {
70  btVector3(1., 0., 0.),
71  btVector3(0., 1., 0.),
72  btVector3(0., 0., 1.),
73  btVector3(-1., 0., 0.),
74  btVector3(0., -1., 0.),
75  btVector3(0., 0., -1.)};
76 
77  btVector3 _supporting[] =
78  {
79  btVector3(0., 0., 0.),
80  btVector3(0., 0., 0.),
81  btVector3(0., 0., 0.),
82  btVector3(0., 0., 0.),
83  btVector3(0., 0., 0.),
84  btVector3(0., 0., 0.)};
85 
86  for (int i = 0; i < 6; i++)
87  {
88  _directions[i] = _directions[i] * t.getBasis();
89  }
90 
91  batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
92 
93  btVector3 aabbMin1(0, 0, 0), aabbMax1(0, 0, 0);
94 
95  for (int i = 0; i < 3; ++i)
96  {
97  aabbMax1[i] = t(_supporting[i])[i];
98  aabbMin1[i] = t(_supporting[i + 3])[i];
99  }
100  btVector3 marginVec(getMargin(), getMargin(), getMargin());
101  aabbMin = aabbMin1 - marginVec;
102  aabbMax = aabbMax1 + marginVec;
103 
104 #else
105 
106  btScalar margin = getMargin();
107  for (int i = 0; i < 3; i++)
108  {
109  btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
110  vec[i] = btScalar(1.);
112  btVector3 tmp = t(sv);
113  aabbMax[i] = tmp[i] + margin;
114  vec[i] = btScalar(-1.);
115  sv = localGetSupportingVertex(vec * t.getBasis());
116  tmp = t(sv);
117  aabbMin[i] = tmp[i] - margin;
118  }
119 
120 #endif
121 }
122 
124 {
126 }
127 
129 {
131 }
132 
134 {
135  m_childConvexShape->setMargin(margin);
136 }
138 {
140 }
141 
143 {
145 }
146 
148 {
149  m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
150 }
btConvexShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const =0
btUniformScalingShape::getAabb
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: btUniformScalingShape.cpp:60
btUniformScalingShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btUniformScalingShape.cpp:128
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btUniformScalingShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btUniformScalingShape.cpp:142
btConvexShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)=0
btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btUniformScalingShape.cpp:34
btUniformScalingShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btUniformScalingShape.cpp:44
UNIFORM_SCALING_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:45
btConvexShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
btConvexShape::setMargin
virtual void setMargin(btScalar margin)=0
btUniformScalingShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btUniformScalingShape.cpp:51
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btUniformScalingShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btUniformScalingShape.cpp:27
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btUniformScalingShape::btUniformScalingShape
btUniformScalingShape(btConvexShape *convexChildShape, btScalar uniformScalingFactor)
Definition: btUniformScalingShape.cpp:18
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btUniformScalingShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btUniformScalingShape.cpp:123
btUniformScalingShape.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btUniformScalingShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btUniformScalingShape.cpp:147
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btUniformScalingShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition: btUniformScalingShape.h:27
btCollisionShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
btUniformScalingShape::m_uniformScalingFactor
btScalar m_uniformScalingFactor
Definition: btUniformScalingShape.h:29
btUniformScalingShape::getMargin
virtual btScalar getMargin() const
Definition: btUniformScalingShape.cpp:137
btUniformScalingShape::~btUniformScalingShape
virtual ~btUniformScalingShape()
Definition: btUniformScalingShape.cpp:23
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btUniformScalingShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btUniformScalingShape.cpp:133
btConvexShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btUniformScalingShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btUniformScalingShape.cpp:65