void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
for (int j = 0; j < numVectors; j++)
{
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
const btVector3& vec = vectors[j];
btVector3 vtx;
btScalar newDot;
{
btVector3 pos(0, 0, 0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
{
btVector3 pos(0, 0, 0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
}
}
btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
btVector3 vtx;
btScalar newDot;
btScalar radius = getRadius();
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
}
void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//as an approximation, take the inertia of the box that bounds the spheres
btTransform ident;
ident.setIdentity();
btScalar radius = getRadius();
btVector3 halfExtents(radius,radius,radius);
halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = CONVEX_DISTANCE_MARGIN;
btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(.08333333);
inertia[0] = scaledmass * (y2+z2);
inertia[1] = scaledmass * (x2+z2);
inertia[2] = scaledmass * (x2+y2);
}
void LLViewerCamera::getPixelVectors(const LLVector3 &pos_agent, LLVector3 &up, LLVector3 &right)
{
LLVector3 to_vec = pos_agent - getOrigin();
F32 at_dist = to_vec * getAtAxis();
F32 height_meters = at_dist* (F32)tan(getView()/2.f);
F32 height_pixels = getViewHeightInPixels()/2.f;
F32 pixel_aspect = gViewerWindow->getWindow()->getPixelAspectRatio();
F32 meters_per_pixel = height_meters / height_pixels;
up = getUpAxis() * meters_per_pixel * gViewerWindow->getDisplayScale().mV[VY];
right = -1.f * pixel_aspect * meters_per_pixel * getLeftAxis() * gViewerWindow->getDisplayScale().mV[VX];
}
