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 }
@ 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:314
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:50
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:1028
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:30
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)=0
const btVector3 & getLocalAabbMin() const
const btVector3 & getLocalAabbMax() const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563