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Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp | 107 |
1 files changed, 107 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/extern/bullet2/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp new file mode 100644 index 00000000000..38ef8f03706 --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btStaticPlaneShape.h" + +#include "LinearMath/btTransformUtil.h" + + +btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant) +: btConcaveShape (), m_planeNormal(planeNormal.normalized()), +m_planeConstant(planeConstant), +m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.)) +{ + m_shapeType = STATIC_PLANE_PROXYTYPE; + // btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) ); +} + + +btStaticPlaneShape::~btStaticPlaneShape() +{ +} + + + +void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + (void)t; + /* + btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + + btVector3 center = m_planeNormal*m_planeConstant; + aabbMin = center + infvec*m_planeNormal; + aabbMax = aabbMin; + aabbMin.setMin(center - infvec*m_planeNormal); + aabbMax.setMax(center - infvec*m_planeNormal); + */ + + aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + +} + + + + +void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + + btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); + btScalar radius = halfExtents.length(); + btVector3 center = (aabbMax + aabbMin) * btScalar(0.5); + + //this is where the triangles are generated, given AABB and plane equation (normal/constant) + + btVector3 tangentDir0,tangentDir1; + + //tangentDir0/tangentDir1 can be precalculated + btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); + + btVector3 supVertex0,supVertex1; + + btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal; + + btVector3 triangle[3]; + triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius; + triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius; + triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius; + + callback->processTriangle(triangle,0,0); + + triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius; + triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius; + triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius; + + callback->processTriangle(triangle,0,1); + +} + +void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + + //moving concave objects not supported + + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btStaticPlaneShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} +const btVector3& btStaticPlaneShape::getLocalScaling() const +{ + return m_localScaling; +} |