void btUniformScalingShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
#if 1
btVector3 _directions[] =
{
btVector3( 1., 0., 0.),
btVector3( 0., 1., 0.),
btVector3( 0., 0., 1.),
btVector3( -1., 0., 0.),
btVector3( 0., -1., 0.),
btVector3( 0., 0., -1.)
};
btVector3 _supporting[] =
{
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.)
};
for (int i=0;i<6;i++)
{
_directions[i] = _directions[i]*t.getBasis();
}
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
btVector3 aabbMin1(0,0,0), aabbMax1(0,0,0);
for ( int i = 0; i < 3; ++i )
{
aabbMax1[i] = t(_supporting[i])[i];
aabbMin1[i] = t(_supporting[i + 3])[i];
}
btVector3 marginVec(getMargin(), getMargin(), getMargin());
aabbMin = aabbMin1-marginVec;
aabbMax = aabbMax1+marginVec;
#else
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
vec[i] = btScalar(1.);
btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
btVector3 tmp = t(sv);
aabbMax[i] = tmp[i]+margin;
vec[i] = btScalar(-1.);
sv = localGetSupportingVertex(vec*t.getBasis());
tmp = t(sv);
aabbMin[i] = tmp[i]-margin;
}
#endif
}
void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
{
m_isLocalAabbValid = true;
#if 1
static const btVector3 _directions[] =
{
btVector3( 1., 0., 0.),
btVector3( 0., 1., 0.),
btVector3( 0., 0., 1.),
btVector3( -1., 0., 0.),
btVector3( 0., -1., 0.),
btVector3( 0., 0., -1.)
};
btVector3 _supporting[] =
{
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.)
};
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
for ( int i = 0; i < 3; ++i )
{
m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
}
#else
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i];
vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i];
}
#endif
}
