diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp | 71 |
1 files changed, 58 insertions, 13 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp index 4c1c716d519..b148bbd99a5 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -64,25 +64,70 @@ void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inert ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version -void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const { - m_childConvexShape->getAabb(t,aabbMin,aabbMax); - btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); - btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; - - aabbMin = aabbCenter - scaledAabbHalfExtends; - aabbMax = aabbCenter + scaledAabbHalfExtends; + getAabbSlow(trans,aabbMin,aabbMax); } void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const { - m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax); - btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5); - btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor; +#if 1 + 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.) + }; + + for (int i=0;i<6;i++) + { + _directions[i] = _directions[i]*t.getBasis(); + } + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0); + + for ( int i = 0; i < 3; ++i ) + { + aabbMax1[i] = t(_supporting[i])[i]; + aabbMin1[i] = t(_supporting[i + 3])[i]; + } + btVector3 marginVec(getMargin(),getMargin(),getMargin()); + aabbMin = aabbMin1-marginVec; + aabbMax = aabbMax1+marginVec; + +#else + + 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*t.getBasis()); + btVector3 tmp = t(sv); + aabbMax[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + sv = localGetSupportingVertex(vec*t.getBasis()); + tmp = t(sv); + aabbMin[i] = tmp[i]-margin; + } - aabbMin = aabbCenter - scaledAabbHalfExtends; - aabbMax = aabbCenter + scaledAabbHalfExtends; +#endif } void btUniformScalingShape::setLocalScaling(const btVector3& scaling) |