diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp | 50 |
1 files changed, 22 insertions, 28 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp index 899ef50056..d4b6a651de 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -13,65 +13,59 @@ subject to the following restrictions: 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) +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 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; + 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 +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++) + for (int i = 0; i < numVectors; i++) { supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]); } - } - - -btScalar btMinkowskiSumShape::getMargin() const +btScalar btMinkowskiSumShape::getMargin() const { 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; //inertia of the AABB of the Minkowski sum btTransform identity; identity.setIdentity(); - btVector3 aabbMin,aabbMax; - getAabb(identity,aabbMin,aabbMax); + btVector3 aabbMin, aabbMax; + getAabb(identity, aabbMin, aabbMax); - btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + 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; + 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)); + inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2)); } |