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Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp

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extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp

/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty. 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. 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, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: 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. 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. 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. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btScaledBvhTriangleMeshShape.h" #include "btScaledBvhTriangleMeshShape.h"
btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling) btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape, const btVector3& localScaling)
:m_localScaling(localScaling),m_bvhTriMeshShape(childShape) : m_localScaling(localScaling), m_bvhTriMeshShape(childShape)
{ {
m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
} }
btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape() btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
{ {
} }
class btScaledTriangleCallback : public btTriangleCallback class btScaledTriangleCallback : public btTriangleCallback
{ {
btTriangleCallback* m_originalCallback; btTriangleCallback* m_originalCallback;
btVector3 m_localScaling; btVector3 m_localScaling;
public: public:
btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling) btScaledTriangleCallback(btTriangleCallback* originalCallback, const btVector3& localScaling)
:m_originalCallback(originalCallback), : m_originalCallback(originalCallback),
m_localScaling(localScaling) m_localScaling(localScaling)
{ {
} }
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{ {
btVector3 newTriangle[3]; btVector3 newTriangle[3];
newTriangle[0] = triangle[0]*m_localScaling; newTriangle[0] = triangle[0] * m_localScaling;
newTriangle[1] = triangle[1]*m_localScaling; newTriangle[1] = triangle[1] * m_localScaling;
newTriangle[2] = triangle[2]*m_localScaling; newTriangle[2] = triangle[2] * m_localScaling;
m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex); 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); btScaledTriangleCallback scaledCallback(callback, m_localScaling);
btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ()); btVector3 invLocalScaling(1.f / m_localScaling.getX(), 1.f / m_localScaling.getY(), 1.f / m_localScaling.getZ());
btVector3 scaledAabbMin,scaledAabbMax; btVector3 scaledAabbMin, scaledAabbMax;
///support negative scaling ///support negative scaling
scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; 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[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[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
scaledAabbMin[3] = 0.f; scaledAabbMin[3] = 0.f;
scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; 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[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[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
scaledAabbMax[3] = 0.f; 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 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax(); btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling; btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling; btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; 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(); btScalar margin = m_bvhTriMeshShape->getMargin();
localHalfExtents += btVector3(margin,margin,margin); localHalfExtents += btVector3(margin, margin, margin);
btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute(); btMatrix3x3 abs_b = trans.getBasis().absolute();
btVector3 center = trans(localCenter); 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; aabbMin = center - extent;
aabbMax = center + extent; aabbMax = center + extent;
} }
void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{ {
m_localScaling = scaling; m_localScaling = scaling;
} }
const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
{ {
return m_localScaling; 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! ///don't make this a movable object!
// btAssert(0); // btAssert(0);
} }