diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp | 62 |
1 files changed, 28 insertions, 34 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp index 6a337c786c..f427319974 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -13,11 +13,10 @@ subject to the following restrictions: 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) +btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape, const btVector3& localScaling) + : m_localScaling(localScaling), m_bvhTriMeshShape(childShape) { m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; } @@ -26,55 +25,51 @@ btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape() { } - class btScaledTriangleCallback : public btTriangleCallback { btTriangleCallback* m_originalCallback; - btVector3 m_localScaling; + btVector3 m_localScaling; public: - - btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling) - :m_originalCallback(originalCallback), - m_localScaling(localScaling) + 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); + 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 +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; + 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); -} + m_bvhTriMeshShape->processAllTriangles(&scaledCallback, scaledAabbMin, scaledAabbMax); +} -void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const { btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin(); btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax(); @@ -89,22 +84,21 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a 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); + 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(); + 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]); + 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) +void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) { m_localScaling = scaling; } @@ -114,8 +108,8 @@ const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const return m_localScaling; } -void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const { ///don't make this a movable object! -// btAssert(0); + // btAssert(0); } |