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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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61
src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
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@@ -43,6 +43,15 @@ void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(co
}
}
btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
{
btVector3 tmpVertex;
tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
return tmpVertex*m_uniformScalingFactor;
}
void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
@@ -51,3 +60,55 @@ void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inert
m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
inertia = tmpInertia * m_uniformScalingFactor;
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
m_childConvexShape->getAabb(t,aabbMin,aabbMax);
btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
aabbMin = aabbCenter - scaledAabbHalfExtends;
aabbMax = aabbCenter + scaledAabbHalfExtends;
}
void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
aabbMin = aabbCenter - scaledAabbHalfExtends;
aabbMax = aabbCenter + scaledAabbHalfExtends;
}
void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
{
m_childConvexShape->setLocalScaling(scaling);
}
const btVector3& btUniformScalingShape::getLocalScaling() const
{
return m_childConvexShape->getLocalScaling();
}
void btUniformScalingShape::setMargin(btScalar margin)
{
m_childConvexShape->setMargin(margin);
}
btScalar btUniformScalingShape::getMargin() const
{
return m_childConvexShape->getMargin() * m_uniformScalingFactor;
}
int btUniformScalingShape::getNumPreferredPenetrationDirections() const
{
return m_childConvexShape->getNumPreferredPenetrationDirections();
}
void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
return m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
}