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ConvexShape.cpp

/*
 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
 */

#include "ConvexShape.h"

ConvexShape::~ConvexShape()
{

}

ConvexShape::ConvexShape()
:m_collisionMargin(CONVEX_DISTANCE_MARGIN),
m_localScaling(1.f,1.f,1.f)
{
}


void  ConvexShape::setLocalScaling(const SimdVector3& scaling)
{
      m_localScaling = scaling;
}



void  ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const
{

      SimdScalar margin = GetMargin();
      for (int i=0;i<3;i++)
      {
            SimdVector3 vec(0.f,0.f,0.f);
            vec[i] = 1.f;

            SimdVector3 sv = LocalGetSupportingVertex(vec*trans.getBasis());

            SimdVector3 tmp = trans(sv);
            maxAabb[i] = tmp[i]+margin;
            vec[i] = -1.f;
            tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
            minAabb[i] = tmp[i]-margin;
      }
};

SimdVector3 ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
 {
       SimdVector3      supVertex = LocalGetSupportingVertexWithoutMargin(vec);

      if ( GetMargin()!=0.f )
      {
            SimdVector3 vecnorm = vec;
            if (vecnorm .length2() == 0.f)
            {
                  vecnorm.setValue(-1.f,-1.f,-1.f);
            } 
            vecnorm.normalize();
            supVertex+= GetMargin() * vecnorm;
      }
      return supVertex;

 }



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