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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp | 207 |
1 files changed, 0 insertions, 207 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp deleted file mode 100644 index 0e17951405..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp +++ /dev/null @@ -1,207 +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 "btTriangleMeshShape.h" -#include "LinearMath/btVector3.h" -#include "LinearMath/btQuaternion.h" -#include "btStridingMeshInterface.h" -#include "LinearMath/btAabbUtil2.h" -#include "BulletCollision/CollisionShapes/btCollisionMargin.h" - - -btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) -: btConcaveShape (), m_meshInterface(meshInterface) -{ - m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; - if(meshInterface->hasPremadeAabb()) - { - meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax); - } - else - { - recalcLocalAabb(); - } -} - - -btTriangleMeshShape::~btTriangleMeshShape() -{ - -} - - - - -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); - - 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 btTriangleMeshShape::recalcLocalAabb() -{ - for (int i=0;i<3;i++) - { - btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); - vec[i] = btScalar(1.); - btVector3 tmp = localGetSupportingVertex(vec); - m_localAabbMax[i] = tmp[i]+m_collisionMargin; - vec[i] = btScalar(-1.); - tmp = localGetSupportingVertex(vec); - m_localAabbMin[i] = tmp[i]-m_collisionMargin; - } -} - - - -class SupportVertexCallback : public btTriangleCallback -{ - - btVector3 m_supportVertexLocal; -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)) - - { - m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis(); - } - - virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex) - { - (void)partId; - (void)triangleIndex; - for (int i=0;i<3;i++) - { - btScalar dot = m_supportVecLocal.dot(triangle[i]); - if (dot > m_maxDot) - { - m_maxDot = dot; - m_supportVertexLocal = triangle[i]; - } - } - } - - btVector3 GetSupportVertexWorldSpace() - { - return m_worldTrans(m_supportVertexLocal); - } - - btVector3 GetSupportVertexLocal() - { - return m_supportVertexLocal; - } - -}; - - -void btTriangleMeshShape::setLocalScaling(const btVector3& scaling) -{ - m_meshInterface->setScaling(scaling); - recalcLocalAabb(); -} - -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 -{ - 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) - { - } - - virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) - { - if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax)) - { - //check aabb in triangle-space, before doing this - m_callback->processTriangle(triangle,partId,triangleIndex); - } - - } - - }; - - FilteredCallback filterCallback(callback,aabbMin,aabbMax); - - m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax); -} - - - - - -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.)); -} - - -btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const -{ - btVector3 supportVertex; - - btTransform ident; - ident.setIdentity(); - - SupportVertexCallback supportCallback(vec,ident); - - btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); - - processAllTriangles(&supportCallback,-aabbMax,aabbMax); - - supportVertex = supportCallback.GetSupportVertexLocal(); - - return supportVertex; -} - - |