diff options
Diffstat (limited to 'extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp')
| -rw-r--r-- | extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp b/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp new file mode 100644 index 00000000000..f2afb338166 --- /dev/null +++ b/extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp @@ -0,0 +1,67 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. + */ + +#include "ConvexShape.h" + +ConvexShape::~ConvexShape() +{ + +} + +ConvexShape::ConvexShape() +:m_collisionMargin(CONVEX_DISTANCE_MARGIN), +m_localScaling(1.f,1.f,1.f) +{ +} + + +void ConvexShape::setLocalScaling(const SimdVector3& scaling) +{ + m_localScaling = scaling; +} + + + +void ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const +{ + + SimdScalar margin = 0.05f; + for (int i=0;i<3;i++) + { + SimdVector3 vec(0.f,0.f,0.f); + vec[i] = 1.f; + SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis())); + maxAabb[i] = tmp[i]+margin; + vec[i] = -1.f; + tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis())); + minAabb[i] = tmp[i]-margin; + } +}; + +SimdVector3 ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const + { + SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec); + + if ( GetMargin()!=0.f ) + { + SimdVector3 vecnorm = vec; + if (vecnorm .length2() == 0.f) + { + vecnorm.setValue(-1.f,-1.f,-1.f); + } + vecnorm.normalize(); + supVertex+= GetMargin() * vecnorm; + } + return supVertex; + + } + + |