Bullet Collision Detection & Physics Library
btScaledBvhTriangleMeshShape.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
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:
10 
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.
14 */
15 
17 
19  : m_localScaling(localScaling), m_bvhTriMeshShape(childShape)
20 {
22 }
23 
25 {
26 }
27 
29 {
31 
33 
34 public:
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 {
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);
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 
102 {
103  m_localScaling = scaling;
104 }
105 
107 {
108  return m_localScaling;
109 }
110 
112 {
114  // btAssert(0);
115 }
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition: btBvhTriangleMeshShape.h:34
btScaledBvhTriangleMeshShape::m_bvhTriMeshShape
btBvhTriangleMeshShape * m_bvhTriMeshShape
Definition: btScaledBvhTriangleMeshShape.h:28
btScaledBvhTriangleMeshShape::m_localScaling
btVector3 m_localScaling
Definition: btScaledBvhTriangleMeshShape.h:26
btScaledTriangleCallback::m_originalCallback
btTriangleCallback * m_originalCallback
Definition: btScaledBvhTriangleMeshShape.cpp:30
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btScaledTriangleCallback::m_localScaling
btVector3 m_localScaling
Definition: btScaledBvhTriangleMeshShape.cpp:32
btScaledTriangleCallback::btScaledTriangleCallback
btScaledTriangleCallback(btTriangleCallback *originalCallback, const btVector3 &localScaling)
Definition: btScaledBvhTriangleMeshShape.cpp:35
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:55
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
btTriangleMeshShape::getLocalAabbMin
const btVector3 & getLocalAabbMin() const
Definition: btTriangleMeshShape.h:69
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:23
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape
virtual ~btScaledBvhTriangleMeshShape()
Definition: btScaledBvhTriangleMeshShape.cpp:24
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
btBvhTriangleMeshShape::processAllTriangles
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Definition: btBvhTriangleMeshShape.cpp:229
btTriangleCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)=0
btScaledBvhTriangleMeshShape::processAllTriangles
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Definition: btScaledBvhTriangleMeshShape.cpp:51
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
btScaledTriangleCallback
Definition: btScaledBvhTriangleMeshShape.cpp:28
btTriangleMeshShape::getLocalAabbMax
const btVector3 & getLocalAabbMax() const
Definition: btTriangleMeshShape.h:73
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:1005
btConcaveShape::getMargin
virtual btScalar getMargin() const
Definition: btConcaveShape.h:52
btScaledBvhTriangleMeshShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btScaledBvhTriangleMeshShape.cpp:106
btScaledBvhTriangleMeshShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btScaledBvhTriangleMeshShape.cpp:111
btScaledBvhTriangleMeshShape.h
btScaledBvhTriangleMeshShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btScaledBvhTriangleMeshShape.cpp:101
btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape
btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape *childShape, const btVector3 &localScaling)
Definition: btScaledBvhTriangleMeshShape.cpp:18
btScaledTriangleCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition: btScaledBvhTriangleMeshShape.cpp:41