Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp

Changeset View

Standalone View

extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp

	/*			/*
	Bullet Continuous Collision Detection and Physics Library			Bullet Continuous Collision Detection and Physics Library
	Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org			Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org

	This software is provided 'as-is', without any express or implied warranty.			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.			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,			Permission is granted to anyone to use this software for any purpose,
	including commercial applications, and to alter it and redistribute it freely,			including commercial applications, and to alter it and redistribute it freely,
	subject to the following restrictions:			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.			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.			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.			3. This notice may not be removed or altered from any source distribution.
	*/			*/


	#include "btMinkowskiSumShape.h"			#include "btMinkowskiSumShape.h"


	btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)			btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB)
	: btConvexInternalShape (),			: btConvexInternalShape(),
	m_shapeA(shapeA),			m_shapeA(shapeA),
	m_shapeB(shapeB)			m_shapeB(shapeB)
	{			{
	m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;			m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
	m_transA.setIdentity();			m_transA.setIdentity();
	m_transB.setIdentity();			m_transB.setIdentity();
	}			}

	btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const			btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
	{			{
	btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));			btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec * m_transA.getBasis()));
	btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));			btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec * m_transB.getBasis()));
	return supVertexA - supVertexB;			return supVertexA - supVertexB;
	}			}

	void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const			void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
	{			{
	///@todo: could make recursive use of batching. probably this shape is not used frequently.			///@todo: could make recursive use of batching. probably this shape is not used frequently.
	for (int i=0;i<numVectors;i++)			for (int i = 0; i < numVectors; i++)
	{			{
	supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);			supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
	}			}

	}			}



	btScalar btMinkowskiSumShape::getMargin() const			btScalar btMinkowskiSumShape::getMargin() const
	{			{
	return m_shapeA->getMargin() + m_shapeB->getMargin();			return m_shapeA->getMargin() + m_shapeB->getMargin();
	}			}


	void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const			void btMinkowskiSumShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
	{			{
	(void)mass;			(void)mass;
	btAssert(0);			//inertia of the AABB of the Minkowski sum
	inertia.setValue(0,0,0);			btTransform identity;
				identity.setIdentity();
				btVector3 aabbMin, aabbMax;
				getAabb(identity, aabbMin, aabbMax);

				btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);

				btScalar margin = getMargin();

				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 * btScalar(0.08333333);

				inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
	}			}