108 lines
3.6 KiB
C++
108 lines
3.6 KiB
C++
/*
|
|
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.
|
|
*/
|
|
|
|
#include "btStaticPlaneShape.h"
|
|
|
|
#include "LinearMath/btTransformUtil.h"
|
|
|
|
|
|
btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
|
|
: btConcaveShape (), m_planeNormal(planeNormal.normalized()),
|
|
m_planeConstant(planeConstant),
|
|
m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.))
|
|
{
|
|
m_shapeType = STATIC_PLANE_PROXYTYPE;
|
|
// btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
|
|
}
|
|
|
|
|
|
btStaticPlaneShape::~btStaticPlaneShape()
|
|
{
|
|
}
|
|
|
|
|
|
|
|
void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
|
{
|
|
(void)t;
|
|
/*
|
|
btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
|
|
|
|
btVector3 center = m_planeNormal*m_planeConstant;
|
|
aabbMin = center + infvec*m_planeNormal;
|
|
aabbMax = aabbMin;
|
|
aabbMin.setMin(center - infvec*m_planeNormal);
|
|
aabbMax.setMax(center - infvec*m_planeNormal);
|
|
*/
|
|
|
|
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
|
|
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
|
{
|
|
|
|
btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
|
|
btScalar radius = halfExtents.length();
|
|
btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
|
|
|
|
//this is where the triangles are generated, given AABB and plane equation (normal/constant)
|
|
|
|
btVector3 tangentDir0,tangentDir1;
|
|
|
|
//tangentDir0/tangentDir1 can be precalculated
|
|
btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
|
|
|
|
btVector3 supVertex0,supVertex1;
|
|
|
|
btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
|
|
|
|
btVector3 triangle[3];
|
|
triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
|
|
triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
|
|
triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
|
|
|
|
callback->processTriangle(triangle,0,0);
|
|
|
|
triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
|
|
triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
|
|
triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
|
|
|
|
callback->processTriangle(triangle,0,1);
|
|
|
|
}
|
|
|
|
void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
|
{
|
|
(void)mass;
|
|
|
|
//moving concave objects not supported
|
|
|
|
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
|
}
|
|
|
|
void btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
|
|
{
|
|
m_localScaling = scaling;
|
|
}
|
|
const btVector3& btStaticPlaneShape::getLocalScaling() const
|
|
{
|
|
return m_localScaling;
|
|
}
|