| /* |
| This source file is part of GIMPACT Library. |
| |
| For the latest info, see http://gimpact.sourceforge.net/ |
| |
| Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. |
| email: projectileman@yahoo.com |
| |
| |
| 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/Gimpact/btGImpactShape.h" |
| #include "BulletCollision/Gimpact/btGImpactMassUtil.h" |
| |
| |
| #define CALC_EXACT_INERTIA 1 |
| |
| void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| lockChildShapes(); |
| #ifdef CALC_EXACT_INERTIA |
| inertia.setValue(0.f,0.f,0.f); |
| |
| int i = this->getNumChildShapes(); |
| btScalar shapemass = mass/btScalar(i); |
| |
| while(i--) |
| { |
| btVector3 temp_inertia; |
| m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia); |
| if(childrenHasTransform()) |
| { |
| inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]); |
| } |
| else |
| { |
| inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity()); |
| } |
| |
| } |
| |
| #else |
| |
| // Calc box inertia |
| |
| btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; |
| btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; |
| btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; |
| const btScalar x2 = lx*lx; |
| const btScalar y2 = ly*ly; |
| const btScalar z2 = lz*lz; |
| const btScalar scaledmass = mass * btScalar(0.08333333); |
| |
| inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); |
| |
| #endif |
| unlockChildShapes(); |
| } |
| |
| |
| |
| void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| lockChildShapes(); |
| |
| |
| #ifdef CALC_EXACT_INERTIA |
| inertia.setValue(0.f,0.f,0.f); |
| |
| int i = this->getVertexCount(); |
| btScalar pointmass = mass/btScalar(i); |
| |
| while(i--) |
| { |
| btVector3 pointintertia; |
| this->getVertex(i,pointintertia); |
| pointintertia = gim_get_point_inertia(pointintertia,pointmass); |
| inertia+=pointintertia; |
| } |
| |
| #else |
| |
| // Calc box inertia |
| |
| btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; |
| btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; |
| btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; |
| const btScalar x2 = lx*lx; |
| const btScalar y2 = ly*ly; |
| const btScalar z2 = lz*lz; |
| const btScalar scaledmass = mass * btScalar(0.08333333); |
| |
| inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); |
| |
| #endif |
| |
| unlockChildShapes(); |
| } |
| |
| void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| |
| #ifdef CALC_EXACT_INERTIA |
| inertia.setValue(0.f,0.f,0.f); |
| |
| int i = this->getMeshPartCount(); |
| btScalar partmass = mass/btScalar(i); |
| |
| while(i--) |
| { |
| btVector3 partinertia; |
| getMeshPart(i)->calculateLocalInertia(partmass,partinertia); |
| inertia+=partinertia; |
| } |
| |
| #else |
| |
| // Calc box inertia |
| |
| btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; |
| btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; |
| btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; |
| const btScalar x2 = lx*lx; |
| const btScalar y2 = ly*ly; |
| const btScalar z2 = lz*lz; |
| const btScalar scaledmass = mass * btScalar(0.08333333); |
| |
| inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); |
| |
| #endif |
| } |
| |
| void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const |
| { |
| } |
| |
| |
| void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const |
| { |
| lockChildShapes(); |
| btAABB box; |
| box.m_min = aabbMin; |
| box.m_max = aabbMax; |
| |
| btAlignedObjectArray<int> collided; |
| m_box_set.boxQuery(box,collided); |
| |
| if(collided.size()==0) |
| { |
| unlockChildShapes(); |
| return; |
| } |
| |
| int part = (int)getPart(); |
| btPrimitiveTriangle triangle; |
| int i = collided.size(); |
| while(i--) |
| { |
| this->getPrimitiveTriangle(collided[i],triangle); |
| callback->processTriangle(triangle.m_vertices,part,collided[i]); |
| } |
| unlockChildShapes(); |
| |
| } |
| |
| void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const |
| { |
| int i = m_mesh_parts.size(); |
| while(i--) |
| { |
| m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax); |
| } |
| } |