diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp | 59 |
1 files changed, 59 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 7afcccf8b03..7edf1ea6db8 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -16,3 +16,62 @@ subject to the following restrictions: #include "btConvexShape.h" +btConvexShape::btConvexShape() +: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), +m_collisionMargin(CONVEX_DISTANCE_MARGIN) +{ +} + + +void btConvexShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} + + + +void btConvexShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const +{ + + btScalar margin = getMargin(); + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + + btVector3 sv = localGetSupportingVertex(vec*trans.getBasis()); + + btVector3 tmp = trans(sv); + maxAabb[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + tmp = trans(localGetSupportingVertex(vec*trans.getBasis())); + minAabb[i] = tmp[i]-margin; + } +}; + + +btVector3 btConvexShape::localGetSupportingVertex(const btVector3& vec)const +{ +#ifndef __SPU__ + + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; + +#else + return btVector3(0,0,0); +#endif //__SPU__ + + } + + |