1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16
17 #include "btScaledBvhTriangleMeshShape.h"
18
btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape * childShape,const btVector3 & localScaling)19 btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
20 :m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
21 {
22 m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
23 }
24
~btScaledBvhTriangleMeshShape()25 btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
26 {
27 }
28
29
30 class btScaledTriangleCallback : public btTriangleCallback
31 {
32 btTriangleCallback* m_originalCallback;
33
34 btVector3 m_localScaling;
35
36 public:
37
btScaledTriangleCallback(btTriangleCallback * originalCallback,const btVector3 & localScaling)38 btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
39 :m_originalCallback(originalCallback),
40 m_localScaling(localScaling)
41 {
42 }
43
processTriangle(btVector3 * triangle,int partId,int triangleIndex)44 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
45 {
46 btVector3 newTriangle[3];
47 newTriangle[0] = triangle[0]*m_localScaling;
48 newTriangle[1] = triangle[1]*m_localScaling;
49 newTriangle[2] = triangle[2]*m_localScaling;
50 m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
51 }
52 };
53
processAllTriangles(btTriangleCallback * callback,const btVector3 & aabbMin,const btVector3 & aabbMax) const54 void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
55 {
56 btScaledTriangleCallback scaledCallback(callback,m_localScaling);
57
58 btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
59 btVector3 scaledAabbMin,scaledAabbMax;
60
61 ///support negative scaling
62 scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
63 scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
64 scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
65 scaledAabbMin[3] = 0.f;
66
67 scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
68 scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
69 scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
70 scaledAabbMax[3] = 0.f;
71
72
73 m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
74 }
75
76
getAabb(const btTransform & trans,btVector3 & aabbMin,btVector3 & aabbMax) const77 void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
78 {
79 btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
80 btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
81
82 btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
83 btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
84
85 localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
86 localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
87 localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
88 localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
89 localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
90 localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
91
92 btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
93 btScalar margin = m_bvhTriMeshShape->getMargin();
94 localHalfExtents += btVector3(margin,margin,margin);
95 btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
96
97 btMatrix3x3 abs_b = trans.getBasis().absolute();
98
99 btVector3 center = trans(localCenter);
100
101 btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
102 aabbMin = center - extent;
103 aabbMax = center + extent;
104
105 }
106
setLocalScaling(const btVector3 & scaling)107 void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
108 {
109 m_localScaling = scaling;
110 }
111
getLocalScaling() const112 const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
113 {
114 return m_localScaling;
115 }
116
calculateLocalInertia(btScalar mass,btVector3 & inertia) const117 void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
118 {
119 ///don't make this a movable object!
120 // btAssert(0);
121 }
122