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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef OBB_BOX_MINKOWSKI_H
#define OBB_BOX_MINKOWSKI_H
#include "PolyhedralConvexShape.h"
#include "CollisionShapes/CollisionMargin.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "SimdPoint3.h"
#include "SimdMinMax.h"
///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
class BoxShape: public PolyhedralConvexShape
{
SimdVector3 m_boxHalfExtents1;
public:
virtual ~BoxShape()
{
}
SimdVector3 GetHalfExtents() const;
//{ return m_boxHalfExtents1 * m_localScaling;}
//const SimdVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
virtual int GetShapeType() const { return BOX_SHAPE_PROXYTYPE;}
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
{
SimdVector3 halfExtents = GetHalfExtents();
SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
halfExtents -= margin;
SimdVector3 supVertex;
supVertex = SimdPoint3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
if (vecnorm .length2() == 0.f)
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}
vecnorm.normalize();
supVertex+= GetMargin() * vecnorm;
}
return supVertex;
}
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
{
SimdVector3 halfExtents = GetHalfExtents();
SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
halfExtents -= margin;
return SimdVector3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
}
BoxShape( const SimdVector3& boxHalfExtents) : m_boxHalfExtents1(boxHalfExtents){};
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
{
//this plane might not be aligned...
SimdVector4 plane ;
GetPlaneEquation(plane,i);
planeNormal = SimdVector3(plane.getX(),plane.getY(),plane.getZ());
planeSupport = LocalGetSupportingVertex(-planeNormal);
}
virtual int GetNumPlanes() const
{
return 6;
}
virtual int GetNumVertices() const
{
return 8;
}
virtual int GetNumEdges() const
{
return 12;
}
virtual void GetVertex(int i,SimdVector3& vtx) const
{
SimdVector3 halfExtents = GetHalfExtents();
vtx = SimdVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
}
virtual void GetPlaneEquation(SimdVector4& plane,int i) const
{
SimdVector3 halfExtents = GetHalfExtents();
switch (i)
{
case 0:
plane.setValue(1.f,0.f,0.f);
plane[3] = -halfExtents.x();
break;
case 1:
plane.setValue(-1.f,0.f,0.f);
plane[3] = -halfExtents.x();
break;
case 2:
plane.setValue(0.f,1.f,0.f);
plane[3] = -halfExtents.y();
break;
case 3:
plane.setValue(0.f,-1.f,0.f);
plane[3] = -halfExtents.y();
break;
case 4:
plane.setValue(0.f,0.f,1.f);
plane[3] = -halfExtents.z();
break;
case 5:
plane.setValue(0.f,0.f,-1.f);
plane[3] = -halfExtents.z();
break;
default:
assert(0);
}
}
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
//virtual void GetEdge(int i,Edge& edge) const
{
int edgeVert0 = 0;
int edgeVert1 = 0;
switch (i)
{
case 0:
edgeVert0 = 0;
edgeVert1 = 1;
break;
case 1:
edgeVert0 = 0;
edgeVert1 = 2;
break;
case 2:
edgeVert0 = 1;
edgeVert1 = 3;
break;
case 3:
edgeVert0 = 2;
edgeVert1 = 3;
break;
case 4:
edgeVert0 = 0;
edgeVert1 = 4;
break;
case 5:
edgeVert0 = 1;
edgeVert1 = 5;
break;
case 6:
edgeVert0 = 2;
edgeVert1 = 6;
break;
case 7:
edgeVert0 = 3;
edgeVert1 = 7;
break;
case 8:
edgeVert0 = 4;
edgeVert1 = 5;
break;
case 9:
edgeVert0 = 4;
edgeVert1 = 6;
break;
case 10:
edgeVert0 = 5;
edgeVert1 = 7;
break;
case 11:
edgeVert0 = 6;
edgeVert1 = 7;
break;
default:
ASSERT(0);
}
GetVertex(edgeVert0,pa );
GetVertex(edgeVert1,pb );
}
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
{
SimdVector3 halfExtents = GetHalfExtents();
//SimdScalar minDist = 2*tolerance;
bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
(pt.x() >= (-halfExtents.x()-tolerance)) &&
(pt.y() <= (halfExtents.y()+tolerance)) &&
(pt.y() >= (-halfExtents.y()-tolerance)) &&
(pt.z() <= (halfExtents.z()+tolerance)) &&
(pt.z() >= (-halfExtents.z()-tolerance));
return result;
}
//debugging
virtual char* GetName()const
{
return "Box";
}
};
#endif //OBB_BOX_MINKOWSKI_H
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