122 lines
5.0 KiB
C++
122 lines
5.0 KiB
C++
/*
|
|
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];
|
|
|
|
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];
|
|
|
|
|
|
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 = btVector3(abs_b[0].dot(localHalfExtents),
|
|
abs_b[1].dot(localHalfExtents),
|
|
abs_b[2].dot(localHalfExtents));
|
|
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);
|
|
}
|