diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp | 42 |
1 files changed, 40 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index bbc4ba62af6..71c3af38a02 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -13,7 +13,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include <BulletCollision/CollisionShapes/btPolyhedralConvexShape.h> +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" btPolyhedralConvexShape::btPolyhedralConvexShape() :m_localAabbMin(1,1,1), @@ -95,7 +95,7 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin( -void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { //not yet, return box inertia @@ -128,10 +128,46 @@ void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMi +void btPolyhedralConvexShape::setLocalScaling(const btVector3& scaling) +{ + btConvexInternalShape::setLocalScaling(scaling); + recalcLocalAabb(); +} void btPolyhedralConvexShape::recalcLocalAabb() { m_isLocalAabbValid = true; + + #if 1 + static const btVector3 _directions[] = + { + btVector3( 1., 0., 0.), + btVector3( 0., 1., 0.), + btVector3( 0., 0., 1.), + btVector3( -1., 0., 0.), + btVector3( 0., -1., 0.), + btVector3( 0., 0., -1.) + }; + + btVector3 _supporting[] = + { + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.) + }; + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + for ( int i = 0; i < 3; ++i ) + { + m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; + m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; + } + + #else for (int i=0;i<3;i++) { @@ -143,6 +179,8 @@ void btPolyhedralConvexShape::recalcLocalAabb() tmp = localGetSupportingVertex(vec); m_localAabbMin[i] = tmp[i]-m_collisionMargin; } + #endif } + |