Page MenuHome
Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp

Changeset View

Standalone View

View Options

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

Show All 11 Lines
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 "btStaticPlaneShape.h" #include "btStaticPlaneShape.h"
#include "LinearMath/btTransformUtil.h" #include "LinearMath/btTransformUtil.h"
btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant) btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal, btScalar planeConstant)
: btConcaveShape (), m_planeNormal(planeNormal.normalized()), : btConcaveShape(), m_planeNormal(planeNormal.normalized()), m_planeConstant(planeConstant), m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.))
m_planeConstant(planeConstant),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{ {
m_shapeType = STATIC_PLANE_PROXYTYPE; m_shapeType = STATIC_PLANE_PROXYTYPE;
// btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) ); // btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
} }
btStaticPlaneShape::~btStaticPlaneShape() btStaticPlaneShape::~btStaticPlaneShape()
{ {
} }
void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const void btStaticPlaneShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{ {
(void)t; (void)t;
/* /*
btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
btVector3 center = m_planeNormal*m_planeConstant; btVector3 center = m_planeNormal*m_planeConstant;
aabbMin = center + infvec*m_planeNormal; aabbMin = center + infvec*m_planeNormal;
aabbMax = aabbMin; aabbMax = aabbMin;
aabbMin.setMin(center - infvec*m_planeNormal); aabbMin.setMin(center - infvec*m_planeNormal);
aabbMax.setMax(center - infvec*m_planeNormal); aabbMax.setMax(center - infvec*m_planeNormal);
*/ */
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
} }
void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{ {
btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
btScalar radius = halfExtents.length(); btScalar radius = halfExtents.length();
btVector3 center = (aabbMax + aabbMin) * btScalar(0.5); btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
//this is where the triangles are generated, given AABB and plane equation (normal/constant) //this is where the triangles are generated, given AABB and plane equation (normal/constant)
btVector3 tangentDir0,tangentDir1; btVector3 tangentDir0, tangentDir1;
//tangentDir0/tangentDir1 can be precalculated //tangentDir0/tangentDir1 can be precalculated
btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); btPlaneSpace1(m_planeNormal, tangentDir0, tangentDir1);
btVector3 supVertex0,supVertex1;
btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal; btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant) * m_planeNormal;
btVector3 triangle[3]; btVector3 triangle[3];
triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius; triangle[0] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius; triangle[1] = projectedCenter + tangentDir0 * radius - tangentDir1 * radius;
triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius; triangle[2] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
callback->processTriangle(triangle,0,0); callback->processTriangle(triangle, 0, 0);
triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius; triangle[0] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius; triangle[1] = projectedCenter - tangentDir0 * radius + tangentDir1 * radius;
triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius; triangle[2] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
callback->processTriangle(triangle,0,1); callback->processTriangle(triangle, 0, 1);
} }
void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const void btStaticPlaneShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{ {
(void)mass; (void)mass;
//moving concave objects not supported //moving concave objects not supported
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
} }
void btStaticPlaneShape::setLocalScaling(const btVector3& scaling) void btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
{ {
m_localScaling = scaling; m_localScaling = scaling;
} }
const btVector3& btStaticPlaneShape::getLocalScaling() const const btVector3& btStaticPlaneShape::getLocalScaling() const
{ {
return m_localScaling; return m_localScaling;
} }