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PolyhedralConvexShape.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 <CollisionShapes/PolyhedralConvexShape.h>

PolyhedralConvexShape::PolyhedralConvexShape()

{
}

SimdVector3 PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
{
      int i;
      SimdVector3 supVec(0,0,0);

      SimdScalar maxDot(-1e30f);

      SimdVector3 vec = vec0;
      SimdScalar lenSqr = vec.length2();
      if (lenSqr < 0.0001f)
      {
            vec.setValue(1,0,0);
      } else
      {
            float rlen = 1.f / SimdSqrt(lenSqr );
            vec *= rlen;
      }

      SimdVector3 vtx;
      SimdScalar newDot;

      for (i=0;i<GetNumVertices();i++)
      {
            GetVertex(i,vtx);
            newDot = vec.dot(vtx);
            if (newDot > maxDot)
            {
                  maxDot = newDot;
                  supVec = vtx;
            }
      }

      return supVec;

}

void  PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
      //not yet, return box inertia

      float margin = GetMargin();

      SimdTransform ident;
      ident.setIdentity();
      SimdVector3 aabbMin,aabbMax;
      GetAabb(ident,aabbMin,aabbMax);
      SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;

      SimdScalar lx=2.f*(halfExtents.x()+margin);
      SimdScalar ly=2.f*(halfExtents.y()+margin);
      SimdScalar lz=2.f*(halfExtents.z()+margin);
      const SimdScalar x2 = lx*lx;
      const SimdScalar y2 = ly*ly;
      const SimdScalar z2 = lz*lz;
      const SimdScalar scaledmass = mass * 0.08333333f;

      inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));

}


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