mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-23 12:26:59 +01:00
204 lines
4.5 KiB
C++
204 lines
4.5 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 "btTetrahedronShape.h"
|
|
#include "LinearMath/btMatrix3x3.h"
|
|
|
|
btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape(),
|
|
m_numVertices(0)
|
|
{
|
|
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
|
|
}
|
|
|
|
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape(),
|
|
m_numVertices(0)
|
|
{
|
|
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
|
|
addVertex(pt0);
|
|
}
|
|
|
|
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1) : btPolyhedralConvexAabbCachingShape(),
|
|
m_numVertices(0)
|
|
{
|
|
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
|
|
addVertex(pt0);
|
|
addVertex(pt1);
|
|
}
|
|
|
|
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2) : btPolyhedralConvexAabbCachingShape(),
|
|
m_numVertices(0)
|
|
{
|
|
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
|
|
addVertex(pt0);
|
|
addVertex(pt1);
|
|
addVertex(pt2);
|
|
}
|
|
|
|
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0, const btVector3& pt1, const btVector3& pt2, const btVector3& pt3) : btPolyhedralConvexAabbCachingShape(),
|
|
m_numVertices(0)
|
|
{
|
|
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
|
|
addVertex(pt0);
|
|
addVertex(pt1);
|
|
addVertex(pt2);
|
|
addVertex(pt3);
|
|
}
|
|
|
|
void btBU_Simplex1to4::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
|
|
{
|
|
#if 1
|
|
btPolyhedralConvexAabbCachingShape::getAabb(t, aabbMin, aabbMax);
|
|
#else
|
|
aabbMin.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
|
|
aabbMax.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
|
|
|
|
//just transform the vertices in worldspace, and take their AABB
|
|
for (int i = 0; i < m_numVertices; i++)
|
|
{
|
|
btVector3 worldVertex = t(m_vertices[i]);
|
|
aabbMin.setMin(worldVertex);
|
|
aabbMax.setMax(worldVertex);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void btBU_Simplex1to4::addVertex(const btVector3& pt)
|
|
{
|
|
m_vertices[m_numVertices++] = pt;
|
|
recalcLocalAabb();
|
|
}
|
|
|
|
int btBU_Simplex1to4::getNumVertices() const
|
|
{
|
|
return m_numVertices;
|
|
}
|
|
|
|
int btBU_Simplex1to4::getNumEdges() const
|
|
{
|
|
//euler formula, F-E+V = 2, so E = F+V-2
|
|
|
|
switch (m_numVertices)
|
|
{
|
|
case 0:
|
|
return 0;
|
|
case 1:
|
|
return 0;
|
|
case 2:
|
|
return 1;
|
|
case 3:
|
|
return 3;
|
|
case 4:
|
|
return 6;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void btBU_Simplex1to4::getEdge(int i, btVector3& pa, btVector3& pb) const
|
|
{
|
|
switch (m_numVertices)
|
|
{
|
|
case 2:
|
|
pa = m_vertices[0];
|
|
pb = m_vertices[1];
|
|
break;
|
|
case 3:
|
|
switch (i)
|
|
{
|
|
case 0:
|
|
pa = m_vertices[0];
|
|
pb = m_vertices[1];
|
|
break;
|
|
case 1:
|
|
pa = m_vertices[1];
|
|
pb = m_vertices[2];
|
|
break;
|
|
case 2:
|
|
pa = m_vertices[2];
|
|
pb = m_vertices[0];
|
|
break;
|
|
}
|
|
break;
|
|
case 4:
|
|
switch (i)
|
|
{
|
|
case 0:
|
|
pa = m_vertices[0];
|
|
pb = m_vertices[1];
|
|
break;
|
|
case 1:
|
|
pa = m_vertices[1];
|
|
pb = m_vertices[2];
|
|
break;
|
|
case 2:
|
|
pa = m_vertices[2];
|
|
pb = m_vertices[0];
|
|
break;
|
|
case 3:
|
|
pa = m_vertices[0];
|
|
pb = m_vertices[3];
|
|
break;
|
|
case 4:
|
|
pa = m_vertices[1];
|
|
pb = m_vertices[3];
|
|
break;
|
|
case 5:
|
|
pa = m_vertices[2];
|
|
pb = m_vertices[3];
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void btBU_Simplex1to4::getVertex(int i, btVector3& vtx) const
|
|
{
|
|
vtx = m_vertices[i];
|
|
}
|
|
|
|
int btBU_Simplex1to4::getNumPlanes() const
|
|
{
|
|
switch (m_numVertices)
|
|
{
|
|
case 0:
|
|
return 0;
|
|
case 1:
|
|
return 0;
|
|
case 2:
|
|
return 0;
|
|
case 3:
|
|
return 2;
|
|
case 4:
|
|
return 4;
|
|
default:
|
|
{
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void btBU_Simplex1to4::getPlane(btVector3&, btVector3&, int) const
|
|
{
|
|
}
|
|
|
|
int btBU_Simplex1to4::getIndex(int) const
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
bool btBU_Simplex1to4::isInside(const btVector3&, btScalar) const
|
|
{
|
|
return false;
|
|
}
|