| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
| |
| 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 "btCollisionMargin.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
| #include "LinearMath/btVector3.h" |
| #include "LinearMath/btMinMax.h" |
| |
| ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. |
| class btBoxShape: public btPolyhedralConvexShape |
| { |
| |
| //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead |
| |
| |
| public: |
| |
| btVector3 getHalfExtentsWithMargin() const |
| { |
| btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
| btVector3 margin(getMargin(),getMargin(),getMargin()); |
| halfExtents += margin; |
| return halfExtents; |
| } |
| |
| const btVector3& getHalfExtentsWithoutMargin() const |
| { |
| return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included |
| } |
| |
| |
| virtual btVector3 localGetSupportingVertex(const btVector3& vec) const |
| { |
| btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
| btVector3 margin(getMargin(),getMargin(),getMargin()); |
| halfExtents += margin; |
| |
| return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), |
| btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), |
| btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); |
| } |
| |
| SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
| { |
| const btVector3& halfExtents = getHalfExtentsWithoutMargin(); |
| |
| return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), |
| btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), |
| btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); |
| } |
| |
| virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
| { |
| const btVector3& halfExtents = getHalfExtentsWithoutMargin(); |
| |
| for (int i=0;i<numVectors;i++) |
| { |
| const btVector3& vec = vectors[i]; |
| supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), |
| btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), |
| btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); |
| } |
| |
| } |
| |
| |
| btBoxShape( const btVector3& boxHalfExtents) |
| : btPolyhedralConvexShape() |
| { |
| m_shapeType = BOX_SHAPE_PROXYTYPE; |
| btVector3 margin(getMargin(),getMargin(),getMargin()); |
| m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; |
| }; |
| |
| virtual void setMargin(btScalar collisionMargin) |
| { |
| //correct the m_implicitShapeDimensions for the margin |
| btVector3 oldMargin(getMargin(),getMargin(),getMargin()); |
| btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; |
| |
| btConvexInternalShape::setMargin(collisionMargin); |
| btVector3 newMargin(getMargin(),getMargin(),getMargin()); |
| m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; |
| |
| } |
| virtual void setLocalScaling(const btVector3& scaling) |
| { |
| btVector3 oldMargin(getMargin(),getMargin(),getMargin()); |
| btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; |
| btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; |
| |
| btConvexInternalShape::setLocalScaling(scaling); |
| |
| m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; |
| |
| } |
| |
| virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
| |
| |
| |
| virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
| |
| virtual void getPlane(btVector3& planeNormal,btVector3& 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 = getHalfExtentsWithoutMargin(); |
| |
| 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 = getHalfExtentsWithoutMargin(); |
| |
| switch (i) |
| { |
| case 0: |
| plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); |
| break; |
| case 1: |
| plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); |
| break; |
| case 2: |
| plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); |
| break; |
| case 3: |
| plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); |
| break; |
| case 4: |
| plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); |
| break; |
| case 5: |
| plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); |
| break; |
| default: |
| btAssert(0); |
| } |
| } |
| |
| |
| virtual void getEdge(int i,btVector3& pa,btVector3& 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 btVector3& pt,btScalar tolerance) const |
| { |
| btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
| |
| //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 const 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(btScalar(1.),btScalar(0.),btScalar(0.)); |
| break; |
| case 1: |
| penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); |
| break; |
| case 2: |
| penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); |
| break; |
| case 3: |
| penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); |
| break; |
| case 4: |
| penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); |
| break; |
| case 5: |
| penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); |
| break; |
| default: |
| btAssert(0); |
| } |
| } |
| |
| }; |
| |
| #endif //OBB_BOX_MINKOWSKI_H |
| |
| |