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/PolyhedralConvexShape.cpp
+++ b/Bullet/CollisionShapes/PolyhedralConvexShape.cpp
@@ -0,0 +1,113 @@
+/*
+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 <CollisionShapes/PolyhedralConvexShape.h>
+
+PolyhedralConvexShape::PolyhedralConvexShape()
+:m_optionalHull(0)
+{
+
+}
+
+
+
+SimdVector3	PolyhedralConvexShape::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;
+
+	for (i=0;i<GetNumVertices();i++)
+	{
+		GetVertex(i,vtx);
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+
+	return supVec;
+
+}
+
+void	PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	int i;
+
+	SimdVector3 vtx;
+	SimdScalar newDot;
+
+	for (int j=0;j<numVectors;j++)
+	{
+		SimdScalar maxDot(-1e30f);
+
+		const SimdVector3& vec = vectors[j];
+
+		for (i=0;i<GetNumVertices();i++)
+		{
+			GetVertex(i,vtx);
+			newDot = vec.dot(vtx);
+			if (newDot > maxDot)
+			{
+				maxDot = newDot;
+				supportVerticesOut[i] = vtx;
+			}
+		}
+	}
+}
+
+
+
+void	PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//not yet, return box inertia
+
+	float margin = GetMargin();
+
+	SimdTransform ident;
+	ident.setIdentity();
+	SimdVector3 aabbMin,aabbMax;
+	GetAabb(ident,aabbMin,aabbMax);
+	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+
+	SimdScalar lx=2.f*(halfExtents.x()+margin);
+	SimdScalar ly=2.f*(halfExtents.y()+margin);
+	SimdScalar lz=2.f*(halfExtents.z()+margin);
+	const SimdScalar x2 = lx*lx;
+	const SimdScalar y2 = ly*ly;
+	const SimdScalar z2 = lz*lz;
+	const SimdScalar scaledmass = mass * 0.08333333f;
+
+	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+}
+