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Added btUniformScalingShape (including support for debug rendering etc)

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This allows to re-use a convex shape, while each instance can re-scale it (with a uniform scalar factor)
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ejcoumans
2007-07-28 19:20:45 +00:00
parent 0df4cedc3e
commit 177b6f5ce2
6 changed files with 153 additions and 2 deletions
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53
src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 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.
*/
#include "btUniformScalingShape.h"
btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor):
m_childConvexShape(convexChildShape),
m_uniformScalingFactor(uniformScalingFactor)
{
}
btUniformScalingShape::~btUniformScalingShape()
{
}
btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
btVector3 tmpVertex;
tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
return tmpVertex*m_uniformScalingFactor;
}
void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
int i;
for (i=0;i<numVectors;i++)
{
supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
}
}
void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
///this linear upscaling is not realistic, but we don't deal with large mass ratios...
btVector3 tmpInertia;
m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
inertia = tmpInertia * m_uniformScalingFactor;
}