moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Bullet/CollisionShapes/MultiSphereShape.cpp
+++ b/Bullet/CollisionShapes/MultiSphereShape.cpp
@@ -0,0 +1,148 @@
+/*
+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 "MultiSphereShape.h"
+#include "CollisionShapes/CollisionMargin.h"
+#include "SimdQuaternion.h"
+
+MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)
+:m_inertiaHalfExtents(inertiaHalfExtents)
+{
+	m_minRadius = 1e30f;
+
+	m_numSpheres = numSpheres;
+	for (int i=0;i<m_numSpheres;i++)
+	{
+		m_localPositions[i] = positions[i];
+		m_radi[i] = radi[i];
+		if (radi[i] < m_minRadius)
+			m_minRadius = radi[i];
+	}
+	SetMargin(m_minRadius);
+
+}
+
+
+
+ 
+ SimdVector3	MultiSphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
+{
+	int i;
+	SimdVector3 supVec(0,0,0);
+
+	SimdScalar maxDot(-1e30f);
+
+
+	SimdVector3 vec = vec0;
+	SimdScalar lenSqr = vec.length2();
+	if (lenSqr < 0.0001f)
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		float rlen = 1.f / SimdSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+	SimdVector3 vtx;
+	SimdScalar newDot;
+
+	const SimdVector3* pos = &m_localPositions[0];
+	const SimdScalar* rad = &m_radi[0];
+
+	for (i=0;i<m_numSpheres;i++)
+	{
+		vtx = (*pos) +vec*((*rad)-m_minRadius);
+		pos++;
+		rad++;
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+
+	return supVec;
+
+}
+
+ void	MultiSphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+
+	for (int j=0;j<numVectors;j++)
+	{
+		SimdScalar maxDot(-1e30f);
+
+		const SimdVector3& vec = vectors[j];
+
+		SimdVector3 vtx;
+		SimdScalar newDot;
+
+		const SimdVector3* pos = &m_localPositions[0];
+		const SimdScalar* rad = &m_radi[0];
+
+		for (int i=0;i<m_numSpheres;i++)
+		{
+			vtx = (*pos) +vec*((*rad)-m_minRadius);
+			pos++;
+			rad++;
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supportVerticesOut[j] = vtx;
+			}
+		}
+	}
+}
+
+
+
+
+
+
+
+
+void	MultiSphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//as an approximation, take the inertia of the box that bounds the spheres
+
+	SimdTransform ident;
+	ident.setIdentity();
+//	SimdVector3 aabbMin,aabbMax;
+
+//	GetAabb(ident,aabbMin,aabbMax);
+
+	SimdVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
+
+	float margin = CONVEX_DISTANCE_MARGIN;
+
+	SimdScalar lx=2.f*(halfExtents[0]+margin);
+	SimdScalar ly=2.f*(halfExtents[1]+margin);
+	SimdScalar lz=2.f*(halfExtents[2]+margin);
+	const SimdScalar x2 = lx*lx;
+	const SimdScalar y2 = ly*ly;
+	const SimdScalar z2 = lz*lz;
+	const SimdScalar scaledmass = mass * 0.08333333f;
+
+	inertia[0] = scaledmass * (y2+z2);
+	inertia[1] = scaledmass * (x2+z2);
+	inertia[2] = scaledmass * (x2+y2);
+
+}
+
+
+