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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp | 115 |
1 files changed, 0 insertions, 115 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp deleted file mode 100644 index f427319974..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp +++ /dev/null @@ -1,115 +0,0 @@ -/* -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); -} |