2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
17 #include "btScaledBvhTriangleMeshShape.h"
19 btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
20 :m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
22 m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
25 btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
30 class btScaledTriangleCallback : public btTriangleCallback
32 btTriangleCallback* m_originalCallback;
34 btVector3 m_localScaling;
38 btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
39 :m_originalCallback(originalCallback),
40 m_localScaling(localScaling)
44 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
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);
54 void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
56 btScaledTriangleCallback scaledCallback(callback,m_localScaling);
58 btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
59 btVector3 scaledAabbMin,scaledAabbMax;
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;
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;
73 m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
77 void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
79 btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
80 btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
82 btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
83 btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
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];
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);
97 btMatrix3x3 abs_b = trans.getBasis().absolute();
99 btVector3 center = trans(localCenter);
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;
109 void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
111 m_localScaling = scaling;
114 const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
116 return m_localScaling;
119 void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
121 ///don't make this a movable object!