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source: code/branches/ScriptableController_HS17/src/external/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @ 11539

Last change on this file since 11539 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 4.9 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
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
17#include "btScaledBvhTriangleMeshShape.h"
18
19btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
20:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
21{
22        m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
23}
24
25btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
26{
27}
28
29
30class btScaledTriangleCallback : public btTriangleCallback
31{
32        btTriangleCallback* m_originalCallback;
33
34        btVector3       m_localScaling;
35
36public:
37
38        btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
39                :m_originalCallback(originalCallback),
40                m_localScaling(localScaling)
41        {
42        }
43
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
54void    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
77void    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 = btVector3(abs_b[0].dot(localHalfExtents),
102                   abs_b[1].dot(localHalfExtents),
103                  abs_b[2].dot(localHalfExtents));
104        aabbMin = center - extent;
105        aabbMax = center + extent;
106
107}
108
109void    btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
110{
111        m_localScaling = scaling;
112}
113
114const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
115{
116        return m_localScaling;
117}
118
119void    btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
120{
121        ///don't make this a movable object!
122//      btAssert(0);
123}
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