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Added better support for btUniformScalingShape, by moving some data that is not shared from btConvexShape to btConvexInternalShape. This reduces the sizeof btUniformScalingShape to 16 bytes (from 64).

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This is good when having lots of re-used shapes with different sizes.

Convex shapes will need to derive from btConvexInternalShape (which is a subclass of btConvexShape). We could have renamed btConvexShape to 'btConvexShapeInterface' (can still do that later)
This commit is contained in:
ejcoumans
2007-07-28 21:10:21 +00:00
parent 177b6f5ce2
commit 38b7f474c3
14 changed files with 294 additions and 146 deletions
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59
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -16,62 +16,3 @@ subject to the following restrictions:
#include "btConvexShape.h"
btConvexShape::btConvexShape()
: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_collisionMargin(CONVEX_DISTANCE_MARGIN)
{
}
void btConvexShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
void btConvexShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
{
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
btVector3 tmp = trans(sv);
maxAabb[i] = tmp[i]+margin;
vec[i] = btScalar(-1.);
tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
minAabb[i] = tmp[i]-margin;
}
};
btVector3 btConvexShape::localGetSupportingVertex(const btVector3& vec)const
{
#ifndef __SPU__
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
#else
return btVector3(0,0,0);
#endif //__SPU__
}