diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp | 58 |
1 files changed, 23 insertions, 35 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp index b5e0e716d4..9238c919d5 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @@ -17,24 +17,18 @@ subject to the following restrictions: #include "LinearMath/btTransformUtil.h" - -btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant) -: btConcaveShape (), m_planeNormal(planeNormal.normalized()), -m_planeConstant(planeConstant), -m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) +btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal, btScalar planeConstant) + : btConcaveShape(), m_planeNormal(planeNormal.normalized()), m_planeConstant(planeConstant), m_localScaling(btScalar(1.), btScalar(1.), btScalar(1.)) { m_shapeType = STATIC_PLANE_PROXYTYPE; // btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) ); } - 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; /* @@ -47,55 +41,49 @@ void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto aabbMax.setMax(center - infvec*m_planeNormal); */ - 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)); - + 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)); } - - - -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); btScalar radius = halfExtents.length(); btVector3 center = (aabbMax + aabbMin) * btScalar(0.5); - + //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 - btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); + btPlaneSpace1(m_planeNormal, tangentDir0, tangentDir1); - btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal; - - btVector3 triangle[3]; - triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius; - triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius; - triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius; + btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant) * m_planeNormal; - callback->processTriangle(triangle,0,0); + btVector3 triangle[3]; + triangle[0] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius; + triangle[1] = projectedCenter + tangentDir0 * radius - tangentDir1 * radius; + triangle[2] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius; - triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius; - triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius; - triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius; + callback->processTriangle(triangle, 0, 0); - callback->processTriangle(triangle,0,1); + triangle[0] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius; + triangle[1] = projectedCenter - tangentDir0 * radius + tangentDir1 * radius; + triangle[2] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius; + callback->processTriangle(triangle, 0, 1); } -void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +void btStaticPlaneShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const { (void)mass; //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; } |