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path: root/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp106
1 files changed, 39 insertions, 67 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
index 0e17951405..aec239063c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
@@ -20,12 +20,11 @@ subject to the following restrictions:
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
-: btConcaveShape (), m_meshInterface(meshInterface)
+ : btConcaveShape(), m_meshInterface(meshInterface)
{
m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
- if(meshInterface->hasPremadeAabb())
+ if (meshInterface->hasPremadeAabb())
{
meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
}
@@ -35,69 +34,60 @@ btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
}
}
-
btTriangleMeshShape::~btTriangleMeshShape()
{
-
}
-
-
-
-void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+void btTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
{
+ btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
+ localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
+ btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
- btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
- localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
- btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
-
- btMatrix3x3 abs_b = trans.getBasis().absolute();
+ 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 btTriangleMeshShape::recalcLocalAabb()
+void btTriangleMeshShape::recalcLocalAabb()
{
- for (int i=0;i<3;i++)
+ for (int i = 0; i < 3; i++)
{
- btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+ btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec);
- m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+ m_localAabbMax[i] = tmp[i] + m_collisionMargin;
vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec);
- m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+ m_localAabbMin[i] = tmp[i] - m_collisionMargin;
}
}
-
-
class SupportVertexCallback : public btTriangleCallback
{
-
btVector3 m_supportVertexLocal;
-public:
- btTransform m_worldTrans;
+public:
+ btTransform m_worldTrans;
btScalar m_maxDot;
btVector3 m_supportVecLocal;
- SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
- : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
-
+ SupportVertexCallback(const btVector3& supportVecWorld, const btTransform& trans)
+ : m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)), m_worldTrans(trans), m_maxDot(btScalar(-BT_LARGE_FLOAT))
+
{
m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
}
- virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex)
+ virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
(void)partId;
(void)triangleIndex;
- for (int i=0;i<3;i++)
+ for (int i = 0; i < 3; i++)
{
btScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot)
@@ -113,14 +103,12 @@ public:
return m_worldTrans(m_supportVertexLocal);
}
- btVector3 GetSupportVertexLocal()
+ btVector3 GetSupportVertexLocal()
{
return m_supportVertexLocal;
}
-
};
-
void btTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
m_meshInterface->setScaling(scaling);
@@ -132,60 +120,46 @@ const btVector3& btTriangleMeshShape::getLocalScaling() const
return m_meshInterface->getScaling();
}
-
-
-
-
-
//#define DEBUG_TRIANGLE_MESH
-
-
-void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{
- struct FilteredCallback : public btInternalTriangleIndexCallback
+ struct FilteredCallback : public btInternalTriangleIndexCallback
{
btTriangleCallback* m_callback;
btVector3 m_aabbMin;
btVector3 m_aabbMax;
- FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax)
- :m_callback(callback),
- m_aabbMin(aabbMin),
- m_aabbMax(aabbMax)
+ FilteredCallback(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax)
+ : m_callback(callback),
+ m_aabbMin(aabbMin),
+ m_aabbMax(aabbMax)
{
}
- virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
+ virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{
- if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
+ if (TestTriangleAgainstAabb2(&triangle[0], m_aabbMin, m_aabbMax))
{
//check aabb in triangle-space, before doing this
- m_callback->processTriangle(triangle,partId,triangleIndex);
+ m_callback->processTriangle(triangle, partId, triangleIndex);
}
-
}
-
};
- FilteredCallback filterCallback(callback,aabbMin,aabbMax);
+ FilteredCallback filterCallback(callback, aabbMin, aabbMax);
- m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
+ m_meshInterface->InternalProcessAllTriangles(&filterCallback, aabbMin, aabbMax);
}
-
-
-
-
-void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+void btTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{
(void)mass;
//moving concave objects not supported
btAssert(0);
- inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+ inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
}
-
btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supportVertex;
@@ -193,15 +167,13 @@ btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) co
btTransform ident;
ident.setIdentity();
- SupportVertexCallback supportCallback(vec,ident);
+ SupportVertexCallback supportCallback(vec, ident);
+
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+
+ processAllTriangles(&supportCallback, -aabbMax, aabbMax);
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
-
- processAllTriangles(&supportCallback,-aabbMax,aabbMax);
-
supportVertex = supportCallback.GetSupportVertexLocal();
return supportVertex;
}
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-11 23:38:13 +0000