summaryrefslogtreecommitdiff
path: root/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
diff options
context:
space:
mode:
authorRĂ©mi Verschelde <rverschelde@gmail.com>2018-01-13 14:43:30 +0100
committerGitHub <noreply@github.com>2018-01-13 14:43:30 +0100
commita3ee252993e8200c856be3fe664937f9461ee268 (patch)
treeaf68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
parentc01575b3125ce1828f0cacb3f9f00286136f373c (diff)
parente12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff)
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp')
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp77
1 files changed, 77 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
new file mode 100644
index 0000000000..899ef50056
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
@@ -0,0 +1,77 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+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.
+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.
+*/
+
+
+#include "btMinkowskiSumShape.h"
+
+
+btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
+: btConvexInternalShape (),
+m_shapeA(shapeA),
+m_shapeB(shapeB)
+{
+ m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
+ m_transA.setIdentity();
+ m_transB.setIdentity();
+}
+
+btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+ btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
+ btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
+ return supVertexA - supVertexB;
+}
+
+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.
+ for (int i=0;i<numVectors;i++)
+ {
+ supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
+ }
+
+}
+
+
+
+btScalar btMinkowskiSumShape::getMargin() const
+{
+ return m_shapeA->getMargin() + m_shapeB->getMargin();
+}
+
+
+void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+ (void)mass;
+ //inertia of the AABB of the Minkowski sum
+ 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));
+}