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 }
@ UNIFORM_SCALING_SHAPE_PROXYTYPE
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
virtual const btVector3 & getLocalScaling() const =0
virtual void setLocalScaling(const btVector3 &scaling)=0
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
virtual void setMargin(btScalar margin)=0
virtual int getNumPreferredPenetrationDirections() const =0
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
virtual btScalar getMargin() const =0
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
btUniformScalingShape(btConvexShape *convexChildShape, btScalar uniformScalingFactor)
virtual void setLocalScaling(const btVector3 &scaling)
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual btScalar getMargin() const
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void setMargin(btScalar margin)
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
btConvexShape * m_childConvexShape
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...
virtual int getNumPreferredPenetrationDirections() const
virtual const btVector3 & getLocalScaling() const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82