122 lines
4.8 KiB
C++
122 lines
4.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btScaledBvhTriangleMeshShape.h"
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btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
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:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
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{
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m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
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}
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btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
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{
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}
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class btScaledTriangleCallback : public btTriangleCallback
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{
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btTriangleCallback* m_originalCallback;
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btVector3 m_localScaling;
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public:
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btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
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:m_originalCallback(originalCallback),
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m_localScaling(localScaling)
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{
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}
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
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{
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btVector3 newTriangle[3];
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newTriangle[0] = triangle[0]*m_localScaling;
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newTriangle[1] = triangle[1]*m_localScaling;
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newTriangle[2] = triangle[2]*m_localScaling;
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m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
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}
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};
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void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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btScaledTriangleCallback scaledCallback(callback,m_localScaling);
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btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
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btVector3 scaledAabbMin,scaledAabbMax;
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///support negative scaling
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scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
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scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
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scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
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scaledAabbMin[3] = 0.f;
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scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
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scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
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scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
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scaledAabbMax[3] = 0.f;
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m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
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}
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void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
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{
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btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
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btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
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btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
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btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
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localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
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localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
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localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
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localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
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localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
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localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
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btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
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btScalar margin = m_bvhTriMeshShape->getMargin();
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localHalfExtents += btVector3(margin,margin,margin);
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btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
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btMatrix3x3 abs_b = trans.getBasis().absolute();
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btVector3 center = trans(localCenter);
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btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling;
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}
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const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
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{
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return m_localScaling;
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}
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void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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///don't make this a movable object!
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// btAssert(0);
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}
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