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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp | 121 |
1 files changed, 121 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp new file mode 100644 index 0000000000..6a337c786c --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -0,0 +1,121 @@ +/* +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 "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]; + scaledAabbMin[3] = 0.f; + + 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]; + scaledAabbMax[3] = 0.f; + + + 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 = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + 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); +} |