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source: code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @ 1963

Last change on this file since 1963 was 1963, checked in by rgrieder, 15 years ago

Added Bullet physics engine.

  • Property svn:eol-style set to native
File size: 4.8 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btScaledBvhTriangleMeshShape.h"
17
18btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling)
19:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
20{
21        m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
22}
23
24btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
25{
26}
27
28
29class btScaledTriangleCallback : public btTriangleCallback
30{
31        btTriangleCallback* m_originalCallback;
32
33        btVector3       m_localScaling;
34
35public:
36
37        btScaledTriangleCallback(btTriangleCallback* originalCallback,btVector3 localScaling)
38                :m_originalCallback(originalCallback),
39                m_localScaling(localScaling)
40        {
41        }
42
43        virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
44        {
45                btVector3 newTriangle[3];
46                newTriangle[0] = triangle[0]*m_localScaling;
47                newTriangle[1] = triangle[1]*m_localScaling;
48                newTriangle[2] = triangle[2]*m_localScaling;
49                m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
50        }
51};
52
53void    btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
54{
55        btScaledTriangleCallback scaledCallback(callback,m_localScaling);
56       
57        btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
58        btVector3 scaledAabbMin,scaledAabbMax;
59
60        ///support negative scaling
61        scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
62        scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
63        scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
64       
65        scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
66        scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
67        scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
68       
69       
70        m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
71}
72
73
74void    btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
75{
76        btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
77        btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
78
79        btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
80        btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
81
82        localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
83        localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
84        localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
85        localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
86        localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
87        localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
88
89        btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
90        btScalar margin = m_bvhTriMeshShape->getMargin();
91        localHalfExtents += btVector3(margin,margin,margin);
92        btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
93       
94        btMatrix3x3 abs_b = trans.getBasis().absolute(); 
95
96        btPoint3 center = trans(localCenter);
97
98        btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
99                   abs_b[1].dot(localHalfExtents),
100                  abs_b[2].dot(localHalfExtents));
101        aabbMin = center - extent;
102        aabbMax = center + extent;
103
104}
105
106void    btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
107{
108        m_localScaling = scaling;
109}
110
111const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
112{
113        return m_localScaling;
114}
115
116void    btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
117{
118        ///don't make this a movable object!
119//      btAssert(0);
120}
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