mirror of https://github.com/axmolengine/axmol.git
340 lines
9.6 KiB
C++
340 lines
9.6 KiB
C++
/*
|
|
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 BT_OBB_BOX_2D_SHAPE_H
|
|
#define BT_OBB_BOX_2D_SHAPE_H
|
|
|
|
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
|
|
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
|
#include "LinearMath/btVector3.h"
|
|
#include "LinearMath/btMinMax.h"
|
|
|
|
///The btBox2dShape 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.
|
|
ATTRIBUTE_ALIGNED16(class)
|
|
btBox2dShape : public btPolyhedralConvexShape
|
|
{
|
|
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
|
|
|
|
btVector3 m_centroid;
|
|
btVector3 m_vertices[4];
|
|
btVector3 m_normals[4];
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
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()));
|
|
}
|
|
}
|
|
|
|
///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
|
|
btBox2dShape(const btVector3& boxHalfExtents)
|
|
: btPolyhedralConvexShape(),
|
|
m_centroid(0, 0, 0)
|
|
{
|
|
m_vertices[0].setValue(-boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
|
|
m_vertices[1].setValue(boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
|
|
m_vertices[2].setValue(boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
|
|
m_vertices[3].setValue(-boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
|
|
|
|
m_normals[0].setValue(0, -1, 0);
|
|
m_normals[1].setValue(1, 0, 0);
|
|
m_normals[2].setValue(0, 1, 0);
|
|
m_normals[3].setValue(-1, 0, 0);
|
|
|
|
btScalar minDimension = boxHalfExtents.getX();
|
|
if (minDimension > boxHalfExtents.getY())
|
|
minDimension = boxHalfExtents.getY();
|
|
|
|
m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
|
|
btVector3 margin(getMargin(), getMargin(), getMargin());
|
|
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
|
|
|
|
setSafeMargin(minDimension);
|
|
};
|
|
|
|
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;
|
|
|
|
int getVertexCount() const
|
|
{
|
|
return 4;
|
|
}
|
|
|
|
virtual int getNumVertices() const
|
|
{
|
|
return 4;
|
|
}
|
|
|
|
const btVector3* getVertices() const
|
|
{
|
|
return &m_vertices[0];
|
|
}
|
|
|
|
const btVector3* getNormals() const
|
|
{
|
|
return &m_normals[0];
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
const btVector3& getCentroid() const
|
|
{
|
|
return m_centroid;
|
|
}
|
|
|
|
virtual int getNumPlanes() const
|
|
{
|
|
return 6;
|
|
}
|
|
|
|
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 "Box2d";
|
|
}
|
|
|
|
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 //BT_OBB_BOX_2D_SHAPE_H
|