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

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

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	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 "btUniformScalingShape.h"			#include "btUniformScalingShape.h"

	btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor):			btUniformScalingShape::btUniformScalingShape(btConvexShape* convexChildShape, btScalar uniformScalingFactor) : btConvexShape(), m_childConvexShape(convexChildShape), m_uniformScalingFactor(uniformScalingFactor)
	btConvexShape (), m_childConvexShape(convexChildShape),
	m_uniformScalingFactor(uniformScalingFactor)
	{			{
	m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;			m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
	}			}

	btUniformScalingShape::~btUniformScalingShape()			btUniformScalingShape::~btUniformScalingShape()
	{			{
	}			}


	btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const			btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
	{			{
	btVector3 tmpVertex;			btVector3 tmpVertex;
	tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);			tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
	return tmpVertex*m_uniformScalingFactor;			return tmpVertex * m_uniformScalingFactor;
	}			}

	void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const			void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
	{			{
	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);			m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
	int i;			int i;
	for (i=0;i<numVectors;i++)			for (i = 0; i < numVectors; i++)
	{			{
	supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;			supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
	}			}
	}			}


	btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const			btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec) const
	{			{
	btVector3 tmpVertex;			btVector3 tmpVertex;
	tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);			tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
	return tmpVertex*m_uniformScalingFactor;			return tmpVertex * m_uniformScalingFactor;
	}			}


	void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const			void btUniformScalingShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
	{			{

	///this linear upscaling is not realistic, but we don't deal with large mass ratios...			///this linear upscaling is not realistic, but we don't deal with large mass ratios...
	btVector3 tmpInertia;			btVector3 tmpInertia;
	m_childConvexShape->calculateLocalInertia(mass,tmpInertia);			m_childConvexShape->calculateLocalInertia(mass, tmpInertia);
	inertia = tmpInertia * m_uniformScalingFactor;			inertia = tmpInertia * m_uniformScalingFactor;
	}			}


	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version			///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
	void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const			void btUniformScalingShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
	{			{
	getAabbSlow(trans,aabbMin,aabbMax);			getAabbSlow(trans, aabbMin, aabbMax);

	}			}

	void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const			void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
	{			{
	#if 1			#if 1
	btVector3 _directions[] =			btVector3 _directions[] =
	{			{
	btVector3( 1., 0., 0.),			btVector3(1., 0., 0.),
	btVector3( 0., 1., 0.),			btVector3(0., 1., 0.),
	btVector3( 0., 0., 1.),			btVector3(0., 0., 1.),
	btVector3( -1., 0., 0.),			btVector3(-1., 0., 0.),
	btVector3( 0., -1., 0.),			btVector3(0., -1., 0.),
	btVector3( 0., 0., -1.)			btVector3(0., 0., -1.)};
	};

	btVector3 _supporting[] =			btVector3 _supporting[] =
	{			{
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.),			btVector3(0., 0., 0.),
	btVector3( 0., 0., 0.)			btVector3(0., 0., 0.)};
	};

	for (int i=0;i<6;i++)			for (int i = 0; i < 6; i++)
	{			{
	_directions[i] = _directions[i]*t.getBasis();			_directions[i] = _directions[i] * t.getBasis();
	}			}

	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);			batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);

	btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);			btVector3 aabbMin1(0, 0, 0), aabbMax1(0, 0, 0);

	for ( int i = 0; i < 3; ++i )			for (int i = 0; i < 3; ++i)
	{			{
	aabbMax1[i] = t(_supporting[i])[i];			aabbMax1[i] = t(_supporting[i])[i];
	aabbMin1[i] = t(_supporting[i + 3])[i];			aabbMin1[i] = t(_supporting[i + 3])[i];
	}			}
	btVector3 marginVec(getMargin(),getMargin(),getMargin());			btVector3 marginVec(getMargin(), getMargin(), getMargin());
	aabbMin = aabbMin1-marginVec;			aabbMin = aabbMin1 - marginVec;
	aabbMax = aabbMax1+marginVec;			aabbMax = aabbMax1 + marginVec;

	#else			#else

	btScalar margin = getMargin();			btScalar margin = getMargin();
	for (int i=0;i<3;i++)			for (int i = 0; i < 3; i++)
	{			{
	btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));			btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
	vec[i] = btScalar(1.);			vec[i] = btScalar(1.);
	btVector3 sv = localGetSupportingVertex(vec*t.getBasis());			btVector3 sv = localGetSupportingVertex(vec * t.getBasis());
	btVector3 tmp = t(sv);			btVector3 tmp = t(sv);
	aabbMax[i] = tmp[i]+margin;			aabbMax[i] = tmp[i] + margin;
	vec[i] = btScalar(-1.);			vec[i] = btScalar(-1.);
	sv = localGetSupportingVertex(vec*t.getBasis());			sv = localGetSupportingVertex(vec * t.getBasis());
	tmp = t(sv);			tmp = t(sv);
	aabbMin[i] = tmp[i]-margin;			aabbMin[i] = tmp[i] - margin;
	}			}

	#endif			#endif
	}			}

	void btUniformScalingShape::setLocalScaling(const btVector3& scaling)			void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
	{			{
	m_childConvexShape->setLocalScaling(scaling);			m_childConvexShape->setLocalScaling(scaling);
	}			}

	const btVector3& btUniformScalingShape::getLocalScaling() const			const btVector3& btUniformScalingShape::getLocalScaling() const
	{			{
	return m_childConvexShape->getLocalScaling();			return m_childConvexShape->getLocalScaling();
	}			}

	void btUniformScalingShape::setMargin(btScalar margin)			void btUniformScalingShape::setMargin(btScalar margin)
	{			{
	m_childConvexShape->setMargin(margin);			m_childConvexShape->setMargin(margin);
	}			}
	btScalar btUniformScalingShape::getMargin() const			btScalar btUniformScalingShape::getMargin() const
	{			{
	return m_childConvexShape->getMargin() * m_uniformScalingFactor;			return m_childConvexShape->getMargin() * m_uniformScalingFactor;
	}			}

	int btUniformScalingShape::getNumPreferredPenetrationDirections() const			int btUniformScalingShape::getNumPreferredPenetrationDirections() const
	{			{
	return m_childConvexShape->getNumPreferredPenetrationDirections();			return m_childConvexShape->getNumPreferredPenetrationDirections();
	}			}

	void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const			void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
	{			{
	m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);			m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
	}			}