diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp | 106 |
1 files changed, 39 insertions, 67 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp index 0e17951405c..aec239063cd 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp @@ -20,12 +20,11 @@ subject to the following restrictions: #include "LinearMath/btAabbUtil2.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h" - btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) -: btConcaveShape (), m_meshInterface(meshInterface) + : btConcaveShape(), m_meshInterface(meshInterface) { m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; - if(meshInterface->hasPremadeAabb()) + if (meshInterface->hasPremadeAabb()) { meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax); } @@ -35,69 +34,60 @@ btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) } } - btTriangleMeshShape::~btTriangleMeshShape() { - } - - - -void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +void btTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const { + btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin); + localHalfExtents += btVector3(getMargin(), getMargin(), getMargin()); + btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin); - btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); - localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); - btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); - - btMatrix3x3 abs_b = trans.getBasis().absolute(); + btMatrix3x3 abs_b = trans.getBasis().absolute(); btVector3 center = trans(localCenter); - btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); aabbMin = center - extent; aabbMax = center + extent; } -void btTriangleMeshShape::recalcLocalAabb() +void btTriangleMeshShape::recalcLocalAabb() { - for (int i=0;i<3;i++) + for (int i = 0; i < 3; i++) { - btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.)); vec[i] = btScalar(1.); btVector3 tmp = localGetSupportingVertex(vec); - m_localAabbMax[i] = tmp[i]+m_collisionMargin; + m_localAabbMax[i] = tmp[i] + m_collisionMargin; vec[i] = btScalar(-1.); tmp = localGetSupportingVertex(vec); - m_localAabbMin[i] = tmp[i]-m_collisionMargin; + m_localAabbMin[i] = tmp[i] - m_collisionMargin; } } - - class SupportVertexCallback : public btTriangleCallback { - btVector3 m_supportVertexLocal; -public: - btTransform m_worldTrans; +public: + btTransform m_worldTrans; btScalar m_maxDot; btVector3 m_supportVecLocal; - SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans) - : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT)) - + SupportVertexCallback(const btVector3& supportVecWorld, const btTransform& trans) + : m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)), m_worldTrans(trans), m_maxDot(btScalar(-BT_LARGE_FLOAT)) + { m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis(); } - virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex) + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) { (void)partId; (void)triangleIndex; - for (int i=0;i<3;i++) + for (int i = 0; i < 3; i++) { btScalar dot = m_supportVecLocal.dot(triangle[i]); if (dot > m_maxDot) @@ -113,14 +103,12 @@ public: return m_worldTrans(m_supportVertexLocal); } - btVector3 GetSupportVertexLocal() + btVector3 GetSupportVertexLocal() { return m_supportVertexLocal; } - }; - void btTriangleMeshShape::setLocalScaling(const btVector3& scaling) { m_meshInterface->setScaling(scaling); @@ -132,60 +120,46 @@ const btVector3& btTriangleMeshShape::getLocalScaling() const return m_meshInterface->getScaling(); } - - - - - //#define DEBUG_TRIANGLE_MESH - - -void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const { - struct FilteredCallback : public btInternalTriangleIndexCallback + struct FilteredCallback : public btInternalTriangleIndexCallback { btTriangleCallback* m_callback; btVector3 m_aabbMin; btVector3 m_aabbMax; - FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) - :m_callback(callback), - m_aabbMin(aabbMin), - m_aabbMax(aabbMax) + FilteredCallback(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) + : m_callback(callback), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax) { } - virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) { - if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax)) + if (TestTriangleAgainstAabb2(&triangle[0], m_aabbMin, m_aabbMax)) { //check aabb in triangle-space, before doing this - m_callback->processTriangle(triangle,partId,triangleIndex); + m_callback->processTriangle(triangle, partId, triangleIndex); } - } - }; - FilteredCallback filterCallback(callback,aabbMin,aabbMax); + FilteredCallback filterCallback(callback, aabbMin, aabbMax); - m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax); + m_meshInterface->InternalProcessAllTriangles(&filterCallback, aabbMin, aabbMax); } - - - - -void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +void btTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const { (void)mass; //moving concave objects not supported btAssert(0); - inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); } - btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const { btVector3 supportVertex; @@ -193,15 +167,13 @@ btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) co btTransform ident; ident.setIdentity(); - SupportVertexCallback supportCallback(vec,ident); + SupportVertexCallback supportCallback(vec, ident); + + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); + + processAllTriangles(&supportCallback, -aabbMax, aabbMax); - btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); - - processAllTriangles(&supportCallback,-aabbMax,aabbMax); - supportVertex = supportCallback.GetSupportVertexLocal(); return supportVertex; } - - |