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Diffstat (limited to '')
-rw-r--r-- | libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs | 133 |
1 files changed, 133 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs new file mode 100644 index 0000000..f61371a --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs | |||
@@ -0,0 +1,133 @@ | |||
1 | /* | ||
2 | Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru | ||
3 | Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com | ||
4 | |||
5 | This software is provided 'as-is', without any express or implied | ||
6 | warranty. In no event will the authors be held liable for any damages | ||
7 | arising from the use of this software. | ||
8 | |||
9 | Permission is granted to anyone to use this software for any purpose, | ||
10 | including commercial applications, and to alter it and redistribute it | ||
11 | freely, subject to the following restrictions: | ||
12 | |||
13 | 1. The origin of this software must not be misrepresented; you must not | ||
14 | claim that you wrote the original software. If you use this software | ||
15 | in a product, an acknowledgment in the product documentation would be | ||
16 | appreciated but is not required. | ||
17 | 2. Altered source versions must be plainly marked as such, and must not be | ||
18 | misrepresented as being the original software. | ||
19 | 3. This notice may not be removed or altered from any source distribution. | ||
20 | */ | ||
21 | |||
22 | using System; | ||
23 | using System.Collections.Generic; | ||
24 | using System.Text; | ||
25 | using MonoXnaCompactMaths; | ||
26 | |||
27 | namespace XnaDevRu.BulletX | ||
28 | { | ||
29 | public abstract class PolyhedralConvexShape : ConvexShape | ||
30 | { | ||
31 | public PolyhedralConvexShape() | ||
32 | { | ||
33 | //m_optionalHull = null; | ||
34 | } | ||
35 | |||
36 | public abstract int VertexCount { get; } | ||
37 | public abstract int EdgeCount { get; } | ||
38 | public abstract int PlaneCount { get; } | ||
39 | |||
40 | public abstract void GetEdge(int i, out Vector3 pointA, out Vector3 pointB); | ||
41 | public abstract void GetVertex(int i, out Vector3 vertex); | ||
42 | public abstract void GetPlane(out Vector3 planeNormal, out Vector3 planeSupport, int i); | ||
43 | // abstract int getIndex(int i); | ||
44 | |||
45 | public abstract bool IsInside(Vector3 point, float tolerance); | ||
46 | |||
47 | // optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp | ||
48 | //public class Hull m_optionalHull; | ||
49 | |||
50 | public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) | ||
51 | { | ||
52 | Vector3 supVec = new Vector3(); | ||
53 | |||
54 | float maxDot = -1e30f; | ||
55 | |||
56 | float lenSqr = vec.LengthSquared(); | ||
57 | if (lenSqr < 0.0001f) | ||
58 | { | ||
59 | vec = new Vector3(1, 0, 0); | ||
60 | } | ||
61 | else | ||
62 | { | ||
63 | float rlen = 1f / (float)Math.Sqrt(lenSqr); | ||
64 | vec *= rlen; | ||
65 | } | ||
66 | |||
67 | Vector3 vtx; | ||
68 | float newDot; | ||
69 | |||
70 | for (int i = 0; i < VertexCount; i++) | ||
71 | { | ||
72 | GetVertex(i, out vtx); | ||
73 | newDot = Vector3.Dot(vec, vtx); | ||
74 | if (newDot > maxDot) | ||
75 | { | ||
76 | maxDot = newDot; | ||
77 | supVec = vtx; | ||
78 | } | ||
79 | } | ||
80 | return supVec; | ||
81 | } | ||
82 | |||
83 | public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) | ||
84 | { | ||
85 | #warning Think about this | ||
86 | /*Vector3 vtx; | ||
87 | float newDot; | ||
88 | |||
89 | for (int i = 0; i < vectors.Length; i++) | ||
90 | { | ||
91 | supportVerticesOut[i][3] = -1e30f; | ||
92 | } | ||
93 | |||
94 | for (int j = 0; j < vectors.Length; j++) | ||
95 | { | ||
96 | Vector3 vec = vectors[j]; | ||
97 | |||
98 | for (int i = 0; i < getNumVertices(); i++) | ||
99 | { | ||
100 | getVertex(i, out vtx); | ||
101 | newDot = Vector3.Dot(vec,vtx); | ||
102 | if (newDot > supportVerticesOut[j][3]) | ||
103 | { | ||
104 | //WARNING: don't swap next lines, the w component would get overwritten! | ||
105 | supportVerticesOut[j] = vtx; | ||
106 | supportVerticesOut[j][3] = newDot; | ||
107 | } | ||
108 | } | ||
109 | }*/ | ||
110 | } | ||
111 | |||
112 | public override void CalculateLocalInertia(float mass, out Vector3 inertia) | ||
113 | { | ||
114 | //not yet, return box inertia | ||
115 | float margin = Margin; | ||
116 | |||
117 | Matrix ident = Matrix.Identity; | ||
118 | Vector3 aabbMin, aabbMax; | ||
119 | GetAabb(ident, out aabbMin, out aabbMax); | ||
120 | Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f; | ||
121 | |||
122 | float lx = 2f * (halfExtents.X + margin); | ||
123 | float ly = 2f * (halfExtents.Y + margin); | ||
124 | float lz = 2f * (halfExtents.Z + margin); | ||
125 | float x2 = lx * lx; | ||
126 | float y2 = ly * ly; | ||
127 | float z2 = lz * lz; | ||
128 | float scaledmass = mass * 0.08333333f; | ||
129 | |||
130 | inertia = scaledmass * (new Vector3(y2 + z2, x2 + z2, x2 + y2)); | ||
131 | } | ||
132 | } | ||
133 | } | ||