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+/*
+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.
+*/
+
+#ifndef BT_OBB_BOX_MINKOWSKI_H
+#define BT_OBB_BOX_MINKOWSKI_H
+
+#include "btPolyhedralConvexShape.h"
+#include "btCollisionMargin.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMinMax.h"
+
+///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
+ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape
+{
+
+ //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
+
+
+public:
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
+ btVector3 getHalfExtentsWithMargin() const
+ {
+ btVector3 halfExtents = getHalfExtentsWithoutMargin();
+ btVector3 margin(getMargin(),getMargin(),getMargin());
+ halfExtents += margin;
+ return halfExtents;
+ }
+
+ const btVector3& getHalfExtentsWithoutMargin() const
+ {
+ return m_implicitShapeDimensions;//scaling is included, margin is not
+ }
+
+
+ virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
+ {
+ btVector3 halfExtents = getHalfExtentsWithoutMargin();
+ btVector3 margin(getMargin(),getMargin(),getMargin());
+ halfExtents += margin;
+
+ return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+ btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+ btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+ }
+
+ SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+ {
+ const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+
+ return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+ btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+ btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+ }
+
+ virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+ {
+ const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+
+ for (int i=0;i<numVectors;i++)
+ {
+ const btVector3& vec = vectors[i];
+ supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+ btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+ btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+ }
+
+ }
+
+
+ btBoxShape( const btVector3& boxHalfExtents);
+
+ virtual void setMargin(btScalar collisionMargin)
+ {
+ //correct the m_implicitShapeDimensions for the margin
+ btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+ btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+
+ btConvexInternalShape::setMargin(collisionMargin);
+ btVector3 newMargin(getMargin(),getMargin(),getMargin());
+ m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
+
+ }
+ virtual void setLocalScaling(const btVector3& scaling)
+ {
+ btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+ btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+ btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
+
+ btConvexInternalShape::setLocalScaling(scaling);
+
+ m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
+
+ }
+
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+
+
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+ virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+ {
+ //this plane might not be aligned...
+ btVector4 plane ;
+ getPlaneEquation(plane,i);
+ planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+ planeSupport = localGetSupportingVertex(-planeNormal);
+ }
+
+
+ virtual int getNumPlanes() const
+ {
+ return 6;
+ }
+
+ virtual int getNumVertices() const
+ {
+ return 8;
+ }
+
+ virtual int getNumEdges() const
+ {
+ return 12;
+ }
+
+
+ virtual void getVertex(int i,btVector3& vtx) const
+ {
+ btVector3 halfExtents = getHalfExtentsWithMargin();
+
+ vtx = btVector3(
+ halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
+ halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
+ halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+ }
+
+
+ virtual void getPlaneEquation(btVector4& plane,int i) const
+ {
+ btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+ switch (i)
+ {
+ case 0:
+ plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+ break;
+ case 1:
+ plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+ break;
+ case 2:
+ plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
+ break;
+ case 3:
+ plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
+ break;
+ case 4:
+ plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
+ break;
+ case 5:
+ plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
+ break;
+ default:
+ btAssert(0);
+ }
+ }
+
+
+ virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+ //virtual void getEdge(int i,Edge& edge) const
+ {
+ int edgeVert0 = 0;
+ int edgeVert1 = 0;
+
+ switch (i)
+ {
+ case 0:
+ edgeVert0 = 0;
+ edgeVert1 = 1;
+ break;
+ case 1:
+ edgeVert0 = 0;
+ edgeVert1 = 2;
+ break;
+ case 2:
+ edgeVert0 = 1;
+ edgeVert1 = 3;
+
+ break;
+ case 3:
+ edgeVert0 = 2;
+ edgeVert1 = 3;
+ break;
+ case 4:
+ edgeVert0 = 0;
+ edgeVert1 = 4;
+ break;
+ case 5:
+ edgeVert0 = 1;
+ edgeVert1 = 5;
+
+ break;
+ case 6:
+ edgeVert0 = 2;
+ edgeVert1 = 6;
+ break;
+ case 7:
+ edgeVert0 = 3;
+ edgeVert1 = 7;
+ break;
+ case 8:
+ edgeVert0 = 4;
+ edgeVert1 = 5;
+ break;
+ case 9:
+ edgeVert0 = 4;
+ edgeVert1 = 6;
+ break;
+ case 10:
+ edgeVert0 = 5;
+ edgeVert1 = 7;
+ break;
+ case 11:
+ edgeVert0 = 6;
+ edgeVert1 = 7;
+ break;
+ default:
+ btAssert(0);
+
+ }
+
+ getVertex(edgeVert0,pa );
+ getVertex(edgeVert1,pb );
+ }
+
+
+
+
+
+ virtual bool isInside(const btVector3& pt,btScalar tolerance) const
+ {
+ btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+ //btScalar minDist = 2*tolerance;
+
+ bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
+ (pt.x() >= (-halfExtents.x()-tolerance)) &&
+ (pt.y() <= (halfExtents.y()+tolerance)) &&
+ (pt.y() >= (-halfExtents.y()-tolerance)) &&
+ (pt.z() <= (halfExtents.z()+tolerance)) &&
+ (pt.z() >= (-halfExtents.z()-tolerance));
+
+ return result;
+ }
+
+
+ //debugging
+ virtual const char* getName()const
+ {
+ return "Box";
+ }
+
+ virtual int getNumPreferredPenetrationDirections() const
+ {
+ return 6;
+ }
+
+ virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+ {
+ switch (index)
+ {
+ case 0:
+ penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
+ break;
+ case 1:
+ penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
+ break;
+ case 2:
+ penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
+ break;
+ case 3:
+ penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
+ break;
+ case 4:
+ penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
+ break;
+ case 5:
+ penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
+ break;
+ default:
+ btAssert(0);
+ }
+ }
+
+};
+
+
+#endif //BT_OBB_BOX_MINKOWSKI_H
+
+
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