57 lines
2.9 KiB
C++
57 lines
2.9 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2019 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 "ConvexShape.h"
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#include "mathematics/Vector3.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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ConvexShape::ConvexShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator& allocator, decimal margin)
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: CollisionShape(name, type, allocator), mMargin(margin) {
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}
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// Return a local support point in a given direction with the object margin
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Vector3 ConvexShape::getLocalSupportPointWithMargin(const Vector3& direction) const {
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// Get the support point without margin
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Vector3 supportPoint = getLocalSupportPointWithoutMargin(direction);
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if (mMargin != decimal(0.0)) {
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// Add the margin to the support point
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Vector3 unitVec(0.0, -1.0, 0.0);
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if (direction.lengthSquare() > MACHINE_EPSILON * MACHINE_EPSILON) {
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unitVec = direction.getUnit();
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}
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supportPoint += unitVec * mMargin;
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}
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return supportPoint;
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}
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