diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp | 52 |
1 files changed, 41 insertions, 11 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index 6f2272cc454..bbc4ba62af6 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -16,7 +16,10 @@ subject to the following restrictions: #include <BulletCollision/CollisionShapes/btPolyhedralConvexShape.h> btPolyhedralConvexShape::btPolyhedralConvexShape() -:m_optionalHull(0) +:m_localAabbMin(1,1,1), +m_localAabbMax(-1,-1,-1), +m_isLocalAabbValid(false), +m_optionalHull(0) { } @@ -28,16 +31,16 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b int i; btVector3 supVec(0,0,0); - btScalar maxDot(-1e30f); + btScalar maxDot(btScalar(-1e30)); btVector3 vec = vec0; btScalar lenSqr = vec.length2(); - if (lenSqr < 0.0001f) + if (lenSqr < btScalar(0.0001)) { vec.setValue(1,0,0); } else { - float rlen = 1.f / btSqrt(lenSqr ); + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); vec *= rlen; } @@ -68,7 +71,7 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin( for (i=0;i<numVectors;i++) { - supportVerticesOut[i][3] = -1e30f; + supportVerticesOut[i][3] = btScalar(-1e30); } for (int j=0;j<numVectors;j++) @@ -96,23 +99,50 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine { //not yet, return box inertia - float margin = getMargin(); + btScalar margin = getMargin(); btTransform ident; ident.setIdentity(); btVector3 aabbMin,aabbMax; getAabb(ident,aabbMin,aabbMax); - btVector3 halfExtents = (aabbMax-aabbMin)*0.5f; + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); - btScalar lx=2.f*(halfExtents.x()+margin); - btScalar ly=2.f*(halfExtents.y()+margin); - btScalar lz=2.f*(halfExtents.z()+margin); + 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 * 0.08333333f; + const btScalar scaledmass = mass * btScalar(0.08333333); inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); } + + +void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); +} + + + + +void btPolyhedralConvexShape::recalcLocalAabb() +{ + m_isLocalAabbValid = true; + + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]+m_collisionMargin; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]-m_collisionMargin; + } +} + + |