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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp | 160 |
1 files changed, 0 insertions, 160 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp deleted file mode 100644 index b148bbd99a..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp +++ /dev/null @@ -1,160 +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 "btUniformScalingShape.h" - -btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor): -btConvexShape (), m_childConvexShape(convexChildShape), -m_uniformScalingFactor(uniformScalingFactor) -{ - m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE; -} - -btUniformScalingShape::~btUniformScalingShape() -{ -} - - -btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const -{ - btVector3 tmpVertex; - tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec); - return tmpVertex*m_uniformScalingFactor; -} - -void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const -{ - m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors); - int i; - for (i=0;i<numVectors;i++) - { - supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor; - } -} - - -btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const -{ - btVector3 tmpVertex; - tmpVertex = m_childConvexShape->localGetSupportingVertex(vec); - return tmpVertex*m_uniformScalingFactor; -} - - -void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - - ///this linear upscaling is not realistic, but we don't deal with large mass ratios... - btVector3 tmpInertia; - m_childConvexShape->calculateLocalInertia(mass,tmpInertia); - inertia = tmpInertia * m_uniformScalingFactor; -} - - - ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version -void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const -{ - getAabbSlow(trans,aabbMin,aabbMax); - -} - -void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const -{ -#if 1 - btVector3 _directions[] = - { - btVector3( 1., 0., 0.), - btVector3( 0., 1., 0.), - btVector3( 0., 0., 1.), - btVector3( -1., 0., 0.), - btVector3( 0., -1., 0.), - btVector3( 0., 0., -1.) - }; - - btVector3 _supporting[] = - { - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.), - btVector3( 0., 0., 0.) - }; - - for (int i=0;i<6;i++) - { - _directions[i] = _directions[i]*t.getBasis(); - } - - batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); - - btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0); - - for ( int i = 0; i < 3; ++i ) - { - aabbMax1[i] = t(_supporting[i])[i]; - aabbMin1[i] = t(_supporting[i + 3])[i]; - } - btVector3 marginVec(getMargin(),getMargin(),getMargin()); - aabbMin = aabbMin1-marginVec; - aabbMax = aabbMax1+marginVec; - -#else - - btScalar margin = getMargin(); - for (int i=0;i<3;i++) - { - btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); - vec[i] = btScalar(1.); - btVector3 sv = localGetSupportingVertex(vec*t.getBasis()); - btVector3 tmp = t(sv); - aabbMax[i] = tmp[i]+margin; - vec[i] = btScalar(-1.); - sv = localGetSupportingVertex(vec*t.getBasis()); - tmp = t(sv); - aabbMin[i] = tmp[i]-margin; - } - -#endif -} - -void btUniformScalingShape::setLocalScaling(const btVector3& scaling) -{ - m_childConvexShape->setLocalScaling(scaling); -} - -const btVector3& btUniformScalingShape::getLocalScaling() const -{ - return m_childConvexShape->getLocalScaling(); -} - -void btUniformScalingShape::setMargin(btScalar margin) -{ - m_childConvexShape->setMargin(margin); -} -btScalar btUniformScalingShape::getMargin() const -{ - return m_childConvexShape->getMargin() * m_uniformScalingFactor; -} - -int btUniformScalingShape::getNumPreferredPenetrationDirections() const -{ - return m_childConvexShape->getNumPreferredPenetrationDirections(); -} - -void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const -{ - m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector); -} |