Bullet Collision Detection & Physics Library: btScaledBvhTriangleMeshShape.cpp Source File

Bullet Collision Detection & Physics Library

btScaledBvhTriangleMeshShape.cpp
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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#include "btScaledBvhTriangleMeshShape.h"
17
18btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape, const 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 class btScaledTriangleCallback : public btTriangleCallback
29{
30 btTriangleCallback* m_originalCallback;
31
32 btVector3 m_localScaling;
33
34public:
35 btScaledTriangleCallback(btTriangleCallback* originalCallback, const btVector3& localScaling)
36 : m_originalCallback(originalCallback),
37 m_localScaling(localScaling)
38 {
39 }
40
41 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
42 {
43 btVector3 newTriangle[3];
44 newTriangle[0] = triangle[0] * m_localScaling;
45 newTriangle[1] = triangle[1] * m_localScaling;
46 newTriangle[2] = triangle[2] * m_localScaling;
47 m_originalCallback->processTriangle(&newTriangle[0], partId, triangleIndex);
48 }
49};
50
51 void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
52{
53 btScaledTriangleCallback scaledCallback(callback, m_localScaling);
54
55 btVector3 invLocalScaling(1.f / m_localScaling.getX(), 1.f / m_localScaling.getY(), 1.f / m_localScaling.getZ());
56 btVector3 scaledAabbMin, scaledAabbMax;
57
59 scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
60 scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
61 scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
62 scaledAabbMin[3] = 0.f;
63
64 scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
65 scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
66 scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
67 scaledAabbMax[3] = 0.f;
68
69 m_bvhTriMeshShape->processAllTriangles(&scaledCallback, scaledAabbMin, scaledAabbMax);
70}
71
72 void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
73{
74 btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
75 btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
76
77 btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
78 btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
79
80 localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
81 localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
82 localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
83 localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
84 localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
85 localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
86
87 btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
88 btScalar margin = m_bvhTriMeshShape->getMargin();
89 localHalfExtents += btVector3(margin, margin, margin);
90 btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
91
92 btMatrix3x3 abs_b = trans.getBasis().absolute();
93
94 btVector3 center = trans(localCenter);
95
96 btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
97 aabbMin = center - extent;
98 aabbMax = center + extent;
99}
100
101 void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
102{
103 m_localScaling = scaling;
104}
105
106 const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
107{
108 return m_localScaling;
109}
110
111 void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
112{
114 // btAssert(0);
115}
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
@ SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:55
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btScaledBvhTriangleMeshShape.h
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition: btBvhTriangleMeshShape.h:36
btBvhTriangleMeshShape::processAllTriangles
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Definition: btBvhTriangleMeshShape.cpp:239
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btConcaveShape::getMargin
virtual btScalar getMargin() const
Definition: btConcaveShape.h:52
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:1028
btScaledBvhTriangleMeshShape::processAllTriangles
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Definition: btScaledBvhTriangleMeshShape.cpp:51
btScaledBvhTriangleMeshShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btScaledBvhTriangleMeshShape.cpp:101
btScaledBvhTriangleMeshShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btScaledBvhTriangleMeshShape.cpp:106
btScaledBvhTriangleMeshShape::m_bvhTriMeshShape
btBvhTriangleMeshShape * m_bvhTriMeshShape
Definition: btScaledBvhTriangleMeshShape.h:28
btScaledBvhTriangleMeshShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btScaledBvhTriangleMeshShape.cpp:111
btScaledBvhTriangleMeshShape::m_localScaling
btVector3 m_localScaling
Definition: btScaledBvhTriangleMeshShape.h:26
btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape
virtual ~btScaledBvhTriangleMeshShape()
Definition: btScaledBvhTriangleMeshShape.cpp:24
btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape
btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape *childShape, const btVector3 &localScaling)
Definition: btScaledBvhTriangleMeshShape.cpp:18
btScaledBvhTriangleMeshShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
Definition: btScaledBvhTriangleMeshShape.cpp:72
btScaledTriangleCallback
Definition: btScaledBvhTriangleMeshShape.cpp:29
btScaledTriangleCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition: btScaledBvhTriangleMeshShape.cpp:41
btScaledTriangleCallback::btScaledTriangleCallback
btScaledTriangleCallback(btTriangleCallback *originalCallback, const btVector3 &localScaling)
Definition: btScaledBvhTriangleMeshShape.cpp:35
btScaledTriangleCallback::m_localScaling
btVector3 m_localScaling
Definition: btScaledBvhTriangleMeshShape.cpp:32
btScaledTriangleCallback::m_originalCallback
btTriangleCallback * m_originalCallback
Definition: btScaledBvhTriangleMeshShape.cpp:30
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:109
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btTriangleCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)=0
btTriangleMeshShape::getLocalAabbMax
const btVector3 & getLocalAabbMax() const
Definition: btTriangleMeshShape.h:73
btTriangleMeshShape::getLocalAabbMin
const btVector3 & getLocalAabbMin() const
Definition: btTriangleMeshShape.h:69
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561