moved files around

Bullet/CollisionShapes/ConvexShape.cpp

@@ -0,0 +1,74 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 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 "ConvexShape.h"
+
+ConvexShape::~ConvexShape()
+{
+
+}
+
+ConvexShape::ConvexShape()
+:m_collisionMargin(CONVEX_DISTANCE_MARGIN),
+m_localScaling(1.f,1.f,1.f)
+{
+}
+
+
+void	ConvexShape::setLocalScaling(const SimdVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+
+
+
+void	ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const
+{
+
+	SimdScalar margin = GetMargin();
+	for (int i=0;i<3;i++)
+	{
+		SimdVector3 vec(0.f,0.f,0.f);
+		vec[i] = 1.f;
+
+		SimdVector3 sv = LocalGetSupportingVertex(vec*trans.getBasis());
+
+		SimdVector3 tmp = trans(sv);
+		maxAabb[i] = tmp[i]+margin;
+		vec[i] = -1.f;
+		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
+		minAabb[i] = tmp[i]-margin;
+	}
+};
+
+SimdVector3	ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+ {
+	 SimdVector3	supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+
+ }
+
+