diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp | 18 |
1 files changed, 8 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp index 02a293e82ba..4bd986bb7f7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp @@ -20,8 +20,9 @@ subject to the following restrictions: btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb) -:m_stridingMesh(meshInterface) +: btPolyhedralConvexShape(), m_stridingMesh(meshInterface) { + m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; if ( calcAabb ) recalcLocalAabb(); } @@ -107,7 +108,7 @@ void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi } } - //todo: could do the batch inside the callback! + ///@todo: could do the batch inside the callback! for (int j=0;j<numVectors;j++) @@ -162,12 +163,12 @@ int btConvexTriangleMeshShape::getNumEdges() const return 0; } -void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const +void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const { btAssert(0); } -void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const +void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const { btAssert(0); } @@ -177,13 +178,13 @@ int btConvexTriangleMeshShape::getNumPlanes() const return 0; } -void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int ) const +void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const { btAssert(0); } //not yet -bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const +bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const { btAssert(0); return false; @@ -268,15 +269,12 @@ void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& pri btVector3 a = triangle[0] - center; btVector3 b = triangle[1] - center; btVector3 c = triangle[2] - center; - btVector3 abc = a + b + c; btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6); for (int j = 0; j < 3; j++) { for (int k = 0; k <= j; k++) { - i[j][k] = i[k][j] = volNeg * (center[j] * center[k] - + btScalar(0.25) * (center[j] * abc[k] + center[k] * abc[j]) - + btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j])); } } |