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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp | 77 |
1 files changed, 0 insertions, 77 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp deleted file mode 100644 index 899ef50056..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ /dev/null @@ -1,77 +0,0 @@ -/* -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)); -} |