135 lines
4.6 KiB
C++
135 lines
4.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "CcdPhysicsEnvironment.h"
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#include "CcdGraphicController.h"
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#include "btBulletDynamicsCommon.h"
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#include "MT_Point3.h"
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CcdGraphicController::CcdGraphicController (CcdPhysicsEnvironment* phyEnv, PHY_IMotionState* motionState) :
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m_localAabbMin(0.f, 0.f, 0.f),
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m_localAabbMax(0.f, 0.f, 0.f),
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m_motionState(motionState),
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m_phyEnv(phyEnv),
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m_handle(NULL),
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m_newClientInfo(NULL)
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{
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}
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CcdGraphicController::~CcdGraphicController()
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{
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if (m_phyEnv)
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m_phyEnv->removeCcdGraphicController(this);
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if (m_motionState)
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delete m_motionState;
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}
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void CcdGraphicController::setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax)
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{
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m_localAabbMin = aabbMin;
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m_localAabbMax = aabbMax;
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SetGraphicTransform();
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}
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void CcdGraphicController::setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax)
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{
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m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
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m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
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SetGraphicTransform();
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}
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void CcdGraphicController::setLocalAabb(const PHY__Vector3& aabbMin,const PHY__Vector3& aabbMax)
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{
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m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
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m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
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SetGraphicTransform();
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}
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void CcdGraphicController::setLocalAabb(const float* aabbMin,const float* aabbMax)
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{
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m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]);
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m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]);
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SetGraphicTransform();
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}
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void CcdGraphicController::getAabb(btVector3& aabbMin, btVector3& aabbMax)
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{
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btVector3 pos;
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btVector3 scale;
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float ori[12];
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m_motionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
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m_motionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]);
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m_motionState->getWorldOrientation(ori);
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btMatrix3x3 rot(ori[0], ori[4], ori[8],
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ori[1], ori[5], ori[9],
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ori[2], ori[6], ori[10]);
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btVector3 localAabbMin = m_localAabbMin;
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btVector3 localAabbMax = m_localAabbMax;
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btVector3 tmpAabbMin = m_localAabbMin * scale;
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btVector3 tmpAabbMax = m_localAabbMax * scale;
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localAabbMin[0] = (scale.getX() >= 0.) ? tmpAabbMin[0] : tmpAabbMax[0];
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localAabbMin[1] = (scale.getY() >= 0.) ? tmpAabbMin[1] : tmpAabbMax[1];
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localAabbMin[2] = (scale.getZ() >= 0.) ? tmpAabbMin[2] : tmpAabbMax[2];
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localAabbMax[0] = (scale.getX() <= 0.) ? tmpAabbMin[0] : tmpAabbMax[0];
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localAabbMax[1] = (scale.getY() <= 0.) ? tmpAabbMin[1] : tmpAabbMax[1];
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localAabbMax[2] = (scale.getZ() <= 0.) ? tmpAabbMin[2] : tmpAabbMax[2];
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btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
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btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
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btMatrix3x3 abs_b = rot.absolute();
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btVector3 center = rot*localCenter + pos;
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btVector3 extent = abs_b*localHalfExtents;
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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bool CcdGraphicController::SetGraphicTransform()
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{
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if (!m_handle)
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return false;
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btVector3 aabbMin;
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btVector3 aabbMax;
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getAabb(aabbMin, aabbMax);
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// update Aabb in broadphase
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m_phyEnv->getCullingTree()->setAabb(m_handle,aabbMin,aabbMax,NULL);
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return true;
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}
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PHY_IGraphicController* CcdGraphicController::GetReplica(class PHY_IMotionState* motionState)
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{
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CcdGraphicController* replica = new CcdGraphicController(*this);
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replica->m_motionState = motionState;
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replica->m_newClientInfo = NULL;
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replica->m_handle = NULL;
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// don't add the graphic controller now: work around a bug in Bullet with rescaling,
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// (the scale of the controller is not yet defined).
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//m_phyEnv->addCcdGraphicController(replica);
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return replica;
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}
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void CcdGraphicController::Activate(bool active)
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{
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if (active)
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m_phyEnv->addCcdGraphicController(this);
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else
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m_phyEnv->removeCcdGraphicController(this);
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}
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