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
18
20:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
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23}
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26{
27}
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29
31{
33
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
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
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{
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);
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
108{
109 m_localScaling = scaling;
110}
111
113{
114 return m_localScaling;
115}
116
118{
120// btAssert(0);
121}
@ SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
virtual btScalar getMargin() const
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:937
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
virtual void setLocalScaling(const btVector3 &scaling)
virtual const btVector3 & getLocalScaling() const
btBvhTriangleMeshShape * m_bvhTriMeshShape
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape *childShape, const btVector3 &localScaling)
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.
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
btScaledTriangleCallback(btTriangleCallback *originalCallback, const btVector3 &localScaling)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)=0
const btVector3 & getLocalAabbMax() const
const btVector3 & getLocalAabbMin() const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:577
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:731
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:575
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:573