| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| |
| #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" |
| |
| btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling) |
| :m_localScaling(localScaling),m_bvhTriMeshShape(childShape) |
| { |
| m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; |
| } |
| |
| btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape() |
| { |
| } |
| |
| |
| class btScaledTriangleCallback : public btTriangleCallback |
| { |
| btTriangleCallback* m_originalCallback; |
| |
| btVector3 m_localScaling; |
| |
| public: |
| |
| btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling) |
| :m_originalCallback(originalCallback), |
| m_localScaling(localScaling) |
| { |
| } |
| |
| virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) |
| { |
| btVector3 newTriangle[3]; |
| newTriangle[0] = triangle[0]*m_localScaling; |
| newTriangle[1] = triangle[1]*m_localScaling; |
| newTriangle[2] = triangle[2]*m_localScaling; |
| m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex); |
| } |
| }; |
| |
| void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const |
| { |
| btScaledTriangleCallback scaledCallback(callback,m_localScaling); |
| |
| btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ()); |
| btVector3 scaledAabbMin,scaledAabbMax; |
| |
| ///support negative scaling |
| scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; |
| scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; |
| scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; |
| |
| scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; |
| scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; |
| scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; |
| |
| |
| m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax); |
| } |
| |
| |
| void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const |
| { |
| btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin(); |
| btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax(); |
| |
| btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling; |
| btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling; |
| |
| localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; |
| localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; |
| localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; |
| localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; |
| localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; |
| localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; |
| |
| btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); |
| btScalar margin = m_bvhTriMeshShape->getMargin(); |
| localHalfExtents += btVector3(margin,margin,margin); |
| btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); |
| |
| btMatrix3x3 abs_b = trans.getBasis().absolute(); |
| |
| btVector3 center = trans(localCenter); |
| |
| btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), |
| abs_b[1].dot(localHalfExtents), |
| abs_b[2].dot(localHalfExtents)); |
| aabbMin = center - extent; |
| aabbMax = center + extent; |
| |
| } |
| |
| void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) |
| { |
| m_localScaling = scaling; |
| } |
| |
| const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const |
| { |
| return m_localScaling; |
| } |
| |
| void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| ///don't make this a movable object! |
| // btAssert(0); |
| } |