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Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdGraphicController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdGraphicController.cpp | 112 |
1 files changed, 112 insertions, 0 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp new file mode 100644 index 00000000000..caf18fd28ba --- /dev/null +++ b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp @@ -0,0 +1,112 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "CcdPhysicsEnvironment.h" +#include "CcdGraphicController.h" +#include "btBulletDynamicsCommon.h" +#include "MT_Point3.h" + + +CcdGraphicController::CcdGraphicController (CcdPhysicsEnvironment* phyEnv, PHY_IMotionState* motionState) : + m_localAabbMin(0.f, 0.f, 0.f), + m_localAabbMax(0.f, 0.f, 0.f), + m_motionState(motionState), + m_phyEnv(phyEnv), + m_handle(NULL), + m_newClientInfo(NULL) +{ +} + +CcdGraphicController::~CcdGraphicController() +{ + if (m_phyEnv) + m_phyEnv->removeCcdGraphicController(this); + + if (m_motionState) + delete m_motionState; +} + +void CcdGraphicController::setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax) +{ + m_localAabbMin = aabbMin; + m_localAabbMax = aabbMax; + SetGraphicTransform(); +} + +void CcdGraphicController::setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax) +{ + m_localAabbMin = btVector3(aabbMin[0],aabbMin[1],aabbMin[2]); + m_localAabbMax = btVector3(aabbMax[0],aabbMax[1],aabbMax[2]); + SetGraphicTransform(); +} + + +void CcdGraphicController::getAabb(btVector3& aabbMin, btVector3& aabbMax) +{ + btVector3 pos; + btVector3 scale; + float ori[12]; + m_motionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); + m_motionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]); + m_motionState->getWorldOrientation(ori); + btMatrix3x3 rot(ori[0], ori[4], ori[8], + ori[1], ori[5], ori[9], + ori[2], ori[6], ori[10]); + + btVector3 localAabbMin = m_localAabbMin; + btVector3 localAabbMax = m_localAabbMax; + btVector3 tmpAabbMin = m_localAabbMin * scale; + btVector3 tmpAabbMax = m_localAabbMax * scale; + + localAabbMin[0] = (scale.getX() >= 0.) ? tmpAabbMin[0] : tmpAabbMax[0]; + localAabbMin[1] = (scale.getY() >= 0.) ? tmpAabbMin[1] : tmpAabbMax[1]; + localAabbMin[2] = (scale.getZ() >= 0.) ? tmpAabbMin[2] : tmpAabbMax[2]; + localAabbMax[0] = (scale.getX() <= 0.) ? tmpAabbMin[0] : tmpAabbMax[0]; + localAabbMax[1] = (scale.getY() <= 0.) ? tmpAabbMin[1] : tmpAabbMax[1]; + localAabbMax[2] = (scale.getZ() <= 0.) ? tmpAabbMin[2] : tmpAabbMax[2]; + + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + + btMatrix3x3 abs_b = rot.absolute(); + btVector3 center = rot*localCenter + pos; + btVector3 extent = abs_b*localHalfExtents; + aabbMin = center - extent; + aabbMax = center + extent; +} + +bool CcdGraphicController::SetGraphicTransform() +{ + if (!m_handle) + return false; + btVector3 aabbMin; + btVector3 aabbMax; + getAabb(aabbMin, aabbMax); + // update Aabb in broadphase + m_phyEnv->getCullingTree()->setAabb(m_handle,aabbMin,aabbMax,NULL); + return true; +} + +PHY_IGraphicController* CcdGraphicController::GetReplica(class PHY_IMotionState* motionState) +{ + CcdGraphicController* replica = new CcdGraphicController(*this); + replica->m_motionState = motionState; + replica->m_newClientInfo = NULL; + replica->m_handle = NULL; + m_phyEnv->addCcdGraphicController(replica); + return replica; +} + + |