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btCollisionShape.cpp

/*
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.
*/

#include "BulletCollision/CollisionShapes/btCollisionShape.h"


/*
  Make sure this dummy function never changes so that it
  can be used by probes that are checking whether the
  library is actually installed.
*/
extern "C" void btBulletCollisionProbe () {}



void  btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
{
      btTransform tr;
      tr.setIdentity();
      btVector3 aabbMin,aabbMax;

      getAabb(tr,aabbMin,aabbMax);

      radius = (aabbMax-aabbMin).length()*btScalar(0.5);
      center = (aabbMin+aabbMax)*btScalar(0.5);
}

00040 btScalar    btCollisionShape::getAngularMotionDisc() const
{
      btVector3   center;
      btScalar disc;
      getBoundingSphere(center,disc);
      disc += (center).length();
      return disc;
}

00049 void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax)
{
      //start with static aabb
      getAabb(curTrans,temporalAabbMin,temporalAabbMax);

      btScalar temporalAabbMaxx = temporalAabbMax.getX();
      btScalar temporalAabbMaxy = temporalAabbMax.getY();
      btScalar temporalAabbMaxz = temporalAabbMax.getZ();
      btScalar temporalAabbMinx = temporalAabbMin.getX();
      btScalar temporalAabbMiny = temporalAabbMin.getY();
      btScalar temporalAabbMinz = temporalAabbMin.getZ();

      // add linear motion
      btVector3 linMotion = linvel*timeStep;
      //todo: simd would have a vector max/min operation, instead of per-element access
      if (linMotion.x() > btScalar(0.))
            temporalAabbMaxx += linMotion.x(); 
      else
            temporalAabbMinx += linMotion.x();
      if (linMotion.y() > btScalar(0.))
            temporalAabbMaxy += linMotion.y(); 
      else
            temporalAabbMiny += linMotion.y();
      if (linMotion.z() > btScalar(0.))
            temporalAabbMaxz += linMotion.z(); 
      else
            temporalAabbMinz += linMotion.z();

      //add conservative angular motion
      btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
      btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
      temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
      temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);

      temporalAabbMin -= angularMotion3d;
      temporalAabbMax += angularMotion3d;
}

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