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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* 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.
*/
#include "ConvexShape.h"
ConvexShape::~ConvexShape()
{
}
ConvexShape::ConvexShape()
:m_collisionMargin(CONVEX_DISTANCE_MARGIN),
m_localScaling(1.f,1.f,1.f)
{
}
void ConvexShape::setLocalScaling(const SimdVector3& scaling)
{
m_localScaling = scaling;
}
void ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const
{
SimdScalar margin = 0.05f;
for (int i=0;i<3;i++)
{
SimdVector3 vec(0.f,0.f,0.f);
vec[i] = 1.f;
SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
maxAabb[i] = tmp[i]+margin;
vec[i] = -1.f;
tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
minAabb[i] = tmp[i]-margin;
}
};
SimdVector3 ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
{
SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
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;
}
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