1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btUniformScalingShape.h"
17
18btUniformScalingShape::btUniformScalingShape(	btConvexShape* convexChildShape,btScalar uniformScalingFactor):
19btConvexShape (), m_childConvexShape(convexChildShape),
20m_uniformScalingFactor(uniformScalingFactor)
21{
22	m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
23}
24
25btUniformScalingShape::~btUniformScalingShape()
26{
27}
28
29
30btVector3	btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
31{
32	btVector3 tmpVertex;
33	tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
34	return tmpVertex*m_uniformScalingFactor;
35}
36
37void	btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
38{
39	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
40	int i;
41	for (i=0;i<numVectors;i++)
42	{
43		supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
44	}
45}
46
47
48btVector3	btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
49{
50	btVector3 tmpVertex;
51	tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
52	return tmpVertex*m_uniformScalingFactor;
53}
54
55
56void	btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
57{
58
59	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
60	btVector3 tmpInertia;
61	m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
62	inertia = tmpInertia * m_uniformScalingFactor;
63}
64
65
66	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
67void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
68{
69	getAabbSlow(trans,aabbMin,aabbMax);
70
71}
72
73void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
74{
75#if 1
76	btVector3 _directions[] =
77	{
78		btVector3( 1.,  0.,  0.),
79		btVector3( 0.,  1.,  0.),
80		btVector3( 0.,  0.,  1.),
81		btVector3( -1., 0.,  0.),
82		btVector3( 0., -1.,  0.),
83		btVector3( 0.,  0., -1.)
84	};
85
86	btVector3 _supporting[] =
87	{
88		btVector3( 0., 0., 0.),
89		btVector3( 0., 0., 0.),
90		btVector3( 0., 0., 0.),
91		btVector3( 0., 0., 0.),
92		btVector3( 0., 0., 0.),
93		btVector3( 0., 0., 0.)
94	};
95
96	for (int i=0;i<6;i++)
97	{
98		_directions[i] = _directions[i]*t.getBasis();
99	}
100
101	batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
102
103	btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
104
105	for ( int i = 0; i < 3; ++i )
106	{
107		aabbMax1[i] = t(_supporting[i])[i];
108		aabbMin1[i] = t(_supporting[i + 3])[i];
109	}
110	btVector3 marginVec(getMargin(),getMargin(),getMargin());
111	aabbMin = aabbMin1-marginVec;
112	aabbMax = aabbMax1+marginVec;
113
114#else
115
116	btScalar margin = getMargin();
117	for (int i=0;i<3;i++)
118	{
119		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
120		vec[i] = btScalar(1.);
121		btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
122		btVector3 tmp = t(sv);
123		aabbMax[i] = tmp[i]+margin;
124		vec[i] = btScalar(-1.);
125		sv = localGetSupportingVertex(vec*t.getBasis());
126		tmp = t(sv);
127		aabbMin[i] = tmp[i]-margin;
128	}
129
130#endif
131}
132
133void	btUniformScalingShape::setLocalScaling(const btVector3& scaling)
134{
135	m_childConvexShape->setLocalScaling(scaling);
136}
137
138const btVector3& btUniformScalingShape::getLocalScaling() const
139{
140	return m_childConvexShape->getLocalScaling();
141}
142
143void	btUniformScalingShape::setMargin(btScalar margin)
144{
145	m_childConvexShape->setMargin(margin);
146}
147btScalar	btUniformScalingShape::getMargin() const
148{
149	return m_childConvexShape->getMargin() * m_uniformScalingFactor;
150}
151
152int		btUniformScalingShape::getNumPreferredPenetrationDirections() const
153{
154	return m_childConvexShape->getNumPreferredPenetrationDirections();
155}
156
157void	btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
158{
159	m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
160}
161