diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp | 61 |
1 files changed, 56 insertions, 5 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index a4712b3e925..740f1783630 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -35,8 +35,15 @@ btCompoundShape::~btCompoundShape() void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape) { - m_childTransforms.push_back(localTransform); - m_childShapes.push_back(shape); + //m_childTransforms.push_back(localTransform); + //m_childShapes.push_back(shape); + btCompoundShapeChild child; + child.m_transform = localTransform; + child.m_childShape = shape; + child.m_childShapeType = shape->getShapeType(); + child.m_childMargin = shape->getMargin(); + + m_children.push_back(child); //extend the local aabbMin/aabbMax btVector3 localAabbMin,localAabbMax; @@ -55,9 +62,53 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio } } +void btCompoundShape::removeChildShape(btCollisionShape* shape) +{ + bool done_removing; + + // Find the children containing the shape specified, and remove those children. + do + { + done_removing = true; + + for(int i = 0; i < m_children.size(); i++) + { + if(m_children[i].m_childShape == shape) + { + m_children.remove(m_children[i]); + done_removing = false; // Do another iteration pass after removing from the vector + break; + } + } + } + while (!done_removing); + + recalculateLocalAabb(); +} - - ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btCompoundShape::recalculateLocalAabb() +{ + // Recalculate the local aabb + // Brute force, it iterates over all the shapes left. + m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30)); + m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); + + //extend the local aabbMin/aabbMax + for (int j = 0; j < m_children.size(); j++) + { + btVector3 localAabbMin,localAabbMax; + m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax); + for (int i=0;i<3;i++) + { + if (m_localAabbMin[i] > localAabbMin[i]) + m_localAabbMin[i] = localAabbMin[i]; + if (m_localAabbMax[i] < localAabbMax[i]) + m_localAabbMax[i] = localAabbMax[i]; + } + } +} + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const { btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); @@ -76,7 +127,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect aabbMax = center + extent; } -void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { //approximation: take the inertia from the aabb for now btTransform ident; |