diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp | 51 |
1 files changed, 31 insertions, 20 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp index 06707e24e55..d4b6a651de0 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -13,48 +13,59 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - #include "btMinkowskiSumShape.h" - -btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB) -: btConvexInternalShape (), -m_shapeA(shapeA), -m_shapeB(shapeB) +btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB) + : btConvexInternalShape(), + m_shapeA(shapeA), + m_shapeB(shapeB) { m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE; m_transA.setIdentity(); m_transB.setIdentity(); } -btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const { - btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); - btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis())); - return supVertexA - supVertexB; + btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec * m_transA.getBasis())); + btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec * m_transB.getBasis())); + return supVertexA - supVertexB; } -void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const { ///@todo: could make recursive use of batching. probably this shape is not used frequently. - for (int i=0;i<numVectors;i++) + for (int i = 0; i < numVectors; i++) { supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]); } - } - - -btScalar btMinkowskiSumShape::getMargin() const +btScalar btMinkowskiSumShape::getMargin() const { return m_shapeA->getMargin() + m_shapeB->getMargin(); } - -void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +void btMinkowskiSumShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const { (void)mass; - btAssert(0); - inertia.setValue(0,0,0); + //inertia of the AABB of the Minkowski sum + btTransform identity; + identity.setIdentity(); + btVector3 aabbMin, aabbMax; + getAabb(identity, aabbMin, aabbMax); + + btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); + + btScalar margin = getMargin(); + + btScalar lx = btScalar(2.) * (halfExtents.x() + margin); + btScalar ly = btScalar(2.) * (halfExtents.y() + margin); + btScalar lz = btScalar(2.) * (halfExtents.z() + margin); + const btScalar x2 = lx * lx; + const btScalar y2 = ly * ly; + const btScalar z2 = lz * lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2)); } |