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btBoxShape.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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.
*/

#ifndef OBB_BOX_MINKOWSKI_H
#define OBB_BOX_MINKOWSKI_H

#include "btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btSimdMinMax.h"

///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
00026 class btBoxShape: public btPolyhedralConvexShape
{

      //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead


public:

      btVector3 getHalfExtents() const;
            
      virtual int getShapeType() const { return BOX_SHAPE_PROXYTYPE;}

      virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
      {
            
            btVector3 halfExtents = getHalfExtents();
            
            btVector3 supVertex;
            supVertex = btPoint3(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
                     vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
                     vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
  
            return supVertex;
      }

      virtual inline btVector3      localGetSupportingVertexWithoutMargin(const btVector3& vec)const
      {
            btVector3 halfExtents = getHalfExtents();
            btVector3 margin(getMargin(),getMargin(),getMargin());
            halfExtents -= margin;

            return btVector3(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
                    vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
                    vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
      }

      virtual void      batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
      {
            btVector3 halfExtents = getHalfExtents();
            btVector3 margin(getMargin(),getMargin(),getMargin());
            halfExtents -= margin;


            for (int i=0;i<numVectors;i++)
            {
                  const btVector3& vec = vectors[i];
                  supportVerticesOut[i].setValue(vec.x() < btScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
                    vec.y() < btScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
                    vec.z() < btScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
            }

      }


      btBoxShape( const btVector3& boxHalfExtents)
      {
            m_implicitShapeDimensions = boxHalfExtents;
      };
      
      virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

      

      virtual void      calculateLocalInertia(btScalar mass,btVector3& inertia);

      virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
      {
            //this plane might not be aligned...
            btVector4 plane ;
            getPlaneEquation(plane,i);
            planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
            planeSupport = localGetSupportingVertex(-planeNormal);
      }

      
      virtual int getNumPlanes() const
      {
            return 6;
      }     
      
      virtual int getNumVertices() const 
      {
            return 8;
      }

      virtual int getNumEdges() const
      {
            return 12;
      }


      virtual void getVertex(int i,btVector3& vtx) const
      {
            btVector3 halfExtents = getHalfExtents();

            vtx = btVector3(
                        halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
                        halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
                        halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
      }
      

      virtual void      getPlaneEquation(btVector4& plane,int i) const
      {
            btVector3 halfExtents = getHalfExtents();

            switch (i)
            {
            case 0:
                  plane.setValue(1.f,0.f,0.f);
                  plane[3] = -halfExtents.x();
                  break;
            case 1:
                  plane.setValue(-1.f,0.f,0.f);
                  plane[3] = -halfExtents.x();
                  break;
            case 2:
                  plane.setValue(0.f,1.f,0.f);
                  plane[3] = -halfExtents.y();
                  break;
            case 3:
                  plane.setValue(0.f,-1.f,0.f);
                  plane[3] = -halfExtents.y();
                  break;
            case 4:
                  plane.setValue(0.f,0.f,1.f);
                  plane[3] = -halfExtents.z();
                  break;
            case 5:
                  plane.setValue(0.f,0.f,-1.f);
                  plane[3] = -halfExtents.z();
                  break;
            default:
                  assert(0);
            }
      }

      
      virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
      //virtual void getEdge(int i,Edge& edge) const
      {
            int edgeVert0 = 0;
            int edgeVert1 = 0;

            switch (i)
            {
            case 0:
                        edgeVert0 = 0;
                        edgeVert1 = 1;
                  break;
            case 1:
                        edgeVert0 = 0;
                        edgeVert1 = 2;
                  break;
            case 2:
                  edgeVert0 = 1;
                  edgeVert1 = 3;

                  break;
            case 3:
                  edgeVert0 = 2;
                  edgeVert1 = 3;
                  break;
            case 4:
                  edgeVert0 = 0;
                  edgeVert1 = 4;
                  break;
            case 5:
                  edgeVert0 = 1;
                  edgeVert1 = 5;

                  break;
            case 6:
                  edgeVert0 = 2;
                  edgeVert1 = 6;
                  break;
            case 7:
                  edgeVert0 = 3;
                  edgeVert1 = 7;
                  break;
            case 8:
                  edgeVert0 = 4;
                  edgeVert1 = 5;
                  break;
            case 9:
                  edgeVert0 = 4;
                  edgeVert1 = 6;
                  break;
            case 10:
                  edgeVert0 = 5;
                  edgeVert1 = 7;
                  break;
            case 11:
                  edgeVert0 = 6;
                  edgeVert1 = 7;
                  break;
            default:
                  btAssert(0);

            }

            getVertex(edgeVert0,pa );
            getVertex(edgeVert1,pb );
      }




      
      virtual     bool isInside(const btPoint3& pt,btScalar tolerance) const
      {
            btVector3 halfExtents = getHalfExtents();

            //btScalar minDist = 2*tolerance;
            
            bool result =     (pt.x() <= (halfExtents.x()+tolerance)) &&
                                    (pt.x() >= (-halfExtents.x()-tolerance)) &&
                                    (pt.y() <= (halfExtents.y()+tolerance)) &&
                                    (pt.y() >= (-halfExtents.y()-tolerance)) &&
                                    (pt.z() <= (halfExtents.z()+tolerance)) &&
                                    (pt.z() >= (-halfExtents.z()-tolerance));
            
            return result;
      }


      //debugging
      virtual char*     getName()const
      {
            return "Box";
      }

      virtual int       getNumPreferredPenetrationDirections() const
      {
            return 6;
      }
      
      virtual void      getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
      {
            switch (index)
            {
            case 0:
                  penetrationVector.setValue(1.f,0.f,0.f);
                  break;
            case 1:
                  penetrationVector.setValue(-1.f,0.f,0.f);
                  break;
            case 2:
                  penetrationVector.setValue(0.f,1.f,0.f);
                  break;
            case 3:
                  penetrationVector.setValue(0.f,-1.f,0.f);
                  break;
            case 4:
                  penetrationVector.setValue(0.f,0.f,1.f);
                  break;
            case 5:
                  penetrationVector.setValue(0.f,0.f,-1.f);
                  break;
            default:
                  assert(0);
            }
      }

};

#endif //OBB_BOX_MINKOWSKI_H


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