source: code/trunk/src/external/bullet/BulletCollision/Gimpact/btGImpactShape.cpp @ 7967

/*
This source file is part of GIMPACT Library.

For the latest info, see http://gimpact.sourceforge.net/

Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com


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.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
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.
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.
*/


#include "btGImpactShape.h"
#include "btGImpactMassUtil.h"


#define CALC_EXACT_INERTIA 1

void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
        lockChildShapes();
#ifdef CALC_EXACT_INERTIA
        inertia.setValue(0.f,0.f,0.f);

        int i = this->getNumChildShapes();
        btScalar shapemass = mass/btScalar(i);

        while(i--)
        {
                btVector3 temp_inertia;
                m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia);
                if(childrenHasTransform())
                {
                        inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]);
                }
                else
                {
                        inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity());
                }

        }

#else

        // Calc box inertia

        btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
        btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
        btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
        const btScalar x2 = lx*lx;
        const btScalar y2 = ly*ly;
        const btScalar z2 = lz*lz;
        const btScalar scaledmass = mass * btScalar(0.08333333);

        inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));

#endif
        unlockChildShapes();
}



void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
        lockChildShapes();


#ifdef CALC_EXACT_INERTIA
        inertia.setValue(0.f,0.f,0.f);

        int i = this->getVertexCount();
        btScalar pointmass = mass/btScalar(i);

        while(i--)
        {
                btVector3 pointintertia;
                this->getVertex(i,pointintertia);
                pointintertia = gim_get_point_inertia(pointintertia,pointmass);
                inertia+=pointintertia;
        }

#else

        // Calc box inertia

        btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
        btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
        btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
        const btScalar x2 = lx*lx;
        const btScalar y2 = ly*ly;
        const btScalar z2 = lz*lz;
        const btScalar scaledmass = mass * btScalar(0.08333333);

        inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));

#endif

        unlockChildShapes();
}

void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{

#ifdef CALC_EXACT_INERTIA
        inertia.setValue(0.f,0.f,0.f);

        int i = this->getMeshPartCount();
        btScalar partmass = mass/btScalar(i);

        while(i--)
        {
                btVector3 partinertia;
                getMeshPart(i)->calculateLocalInertia(partmass,partinertia);
                inertia+=partinertia;
        }

#else

        // Calc box inertia

        btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
        btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
        btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
        const btScalar x2 = lx*lx;
        const btScalar y2 = ly*ly;
        const btScalar z2 = lz*lz;
        const btScalar scaledmass = mass * btScalar(0.08333333);

        inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));

#endif
}

void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
{
}


void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
        lockChildShapes();
        btAABB box;
        box.m_min = aabbMin;
        box.m_max = aabbMax;

        btAlignedObjectArray<int> collided;
        m_box_set.boxQuery(box,collided);

        if(collided.size()==0)
        {
                unlockChildShapes();
                return;
        }

        int part = (int)getPart();
        btPrimitiveTriangle triangle;
        int i = collided.size();
        while(i--)
        {
                this->getPrimitiveTriangle(collided[i],triangle);
                callback->processTriangle(triangle.m_vertices,part,collided[i]);
        }
        unlockChildShapes();

}

void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
        int i = m_mesh_parts.size();
        while(i--)
        {
                m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax);
        }
}