101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "CompoundShape.h"
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#include "CollisionShape.h"
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CompoundShape::CompoundShape()
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:m_localAabbMin(1e30f,1e30f,1e30f),
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m_localAabbMax(-1e30f,-1e30f,-1e30f),
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m_aabbTree(0),
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m_collisionMargin(0.f),
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m_localScaling(1.f,1.f,1.f)
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{
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}
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CompoundShape::~CompoundShape()
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{
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}
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void CompoundShape::AddChildShape(const SimdTransform& localTransform,CollisionShape* shape)
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{
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m_childTransforms.push_back(localTransform);
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m_childShapes.push_back(shape);
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//extend the local aabbMin/aabbMax
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SimdVector3 localAabbMin,localAabbMax;
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shape->GetAabb(localTransform,localAabbMin,localAabbMax);
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for (int i=0;i<3;i++)
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{
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if (m_localAabbMin[i] > localAabbMin[i])
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{
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m_localAabbMin[i] = localAabbMin[i];
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}
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if (m_localAabbMax[i] < localAabbMax[i])
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{
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m_localAabbMax[i] = localAabbMax[i];
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}
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}
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}
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///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
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void CompoundShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
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{
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SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
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SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
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SimdMatrix3x3 abs_b = trans.getBasis().absolute();
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SimdPoint3 center = trans(localCenter);
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SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
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abs_b[1].dot(localHalfExtents),
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abs_b[2].dot(localHalfExtents));
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extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void CompoundShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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//approximation: take the inertia from the aabb for now
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SimdTransform ident;
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ident.setIdentity();
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SimdVector3 aabbMin,aabbMax;
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GetAabb(ident,aabbMin,aabbMax);
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SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
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SimdScalar lx=2.f*(halfExtents.x());
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SimdScalar ly=2.f*(halfExtents.y());
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SimdScalar lz=2.f*(halfExtents.z());
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inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
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inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
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inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
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}
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