76 lines
3.8 KiB
C++
76 lines
3.8 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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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 *
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* use of this software. *
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* *
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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 *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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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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********************************************************************************/
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// Libraries
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#include <ephysics/collision/shapes/CollisionShape.h>
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#include <ephysics/engine/Profiler.h>
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#include <ephysics/body/CollisionBody.h>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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CollisionShape::CollisionShape(CollisionShapeType type) : mType(type), mScaling(1.0, 1.0, 1.0) {
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}
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// Destructor
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CollisionShape::~CollisionShape() {
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}
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// Compute the world-space AABB of the collision shape given a transform
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/**
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* @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
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* computed in world-space coordinates
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* @param transform Transform used to compute the AABB of the collision shape
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*/
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void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const {
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PROFILE("CollisionShape::computeAABB()");
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// Get the local bounds in x,y and z direction
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Vector3 minBounds;
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Vector3 maxBounds;
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getLocalBounds(minBounds, maxBounds);
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// Rotate the local bounds according to the orientation of the body
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Matrix3x3 worldAxis = transform.getOrientation().getMatrix().getAbsoluteMatrix();
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Vector3 worldMinBounds(worldAxis.getColumn(0).dot(minBounds),
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worldAxis.getColumn(1).dot(minBounds),
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worldAxis.getColumn(2).dot(minBounds));
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Vector3 worldMaxBounds(worldAxis.getColumn(0).dot(maxBounds),
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worldAxis.getColumn(1).dot(maxBounds),
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worldAxis.getColumn(2).dot(maxBounds));
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// Compute the minimum and maximum coordinates of the rotated extents
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Vector3 minCoordinates = transform.getPosition() + worldMinBounds;
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Vector3 maxCoordinates = transform.getPosition() + worldMaxBounds;
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// Update the AABB with the new minimum and maximum coordinates
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aabb.setMin(minCoordinates);
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aabb.setMax(maxCoordinates);
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}
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