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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#include "TriangleMeshShape.h"
#include "SimdVector3.h"
#include "SimdQuaternion.h"
#include "StridingMeshInterface.h"
#include "AabbUtil2.h"
#include "CollisionShapes/CollisionMargin.h"
#include "stdio.h"
TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
: m_meshInterface(meshInterface),
m_collisionMargin(CONVEX_DISTANCE_MARGIN)
{
RecalcLocalAabb();
}
TriangleMeshShape::~TriangleMeshShape()
{
}
void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
{
SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
SimdMatrix3x3 abs_b = trans.getBasis().absolute();
SimdPoint3 center = trans(localCenter);
SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void TriangleMeshShape::RecalcLocalAabb()
{
for (int i=0;i<3;i++)
{
SimdVector3 vec(0.f,0.f,0.f);
vec[i] = 1.f;
SimdVector3 tmp = LocalGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i]+m_collisionMargin;
vec[i] = -1.f;
tmp = LocalGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin;
}
}
class SupportVertexCallback : public TriangleCallback
{
SimdVector3 m_supportVertexLocal;
public:
SimdTransform m_worldTrans;
SimdScalar m_maxDot;
SimdVector3 m_supportVecLocal;
SupportVertexCallback(const SimdVector3& supportVecWorld,const SimdTransform& trans)
: m_supportVertexLocal(0.f,0.f,0.f), m_worldTrans(trans) ,m_maxDot(-1e30f)
{
m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
}
virtual void ProcessTriangle( SimdVector3* triangle)
{
for (int i=0;i<3;i++)
{
SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot)
{
m_maxDot = dot;
m_supportVertexLocal = triangle[i];
}
}
}
SimdVector3 GetSupportVertexWorldSpace()
{
return m_worldTrans(m_supportVertexLocal);
}
SimdVector3 GetSupportVertexLocal()
{
return m_supportVertexLocal;
}
};
void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
{
m_meshInterface->setScaling(scaling);
RecalcLocalAabb();
}
const SimdVector3& TriangleMeshShape::getLocalScaling() const
{
return m_meshInterface->getScaling();
}
//#define DEBUG_TRIANGLE_MESH
void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
{
struct FilteredCallback : public InternalTriangleIndexCallback
{
TriangleCallback* m_callback;
SimdVector3 m_aabbMin;
SimdVector3 m_aabbMax;
FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
:m_callback(callback),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax)
{
}
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
{
if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
{
//check aabb in triangle-space, before doing this
m_callback->ProcessTriangle(triangle);
}
}
};
FilteredCallback filterCallback(callback,aabbMin,aabbMax);
m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
}
void TriangleMeshShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
//moving concave objects not supported
assert(0);
inertia.setValue(0.f,0.f,0.f);
}
SimdVector3 TriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec) const
{
SimdVector3 supportVertex;
SimdTransform ident;
ident.setIdentity();
SupportVertexCallback supportCallback(vec,ident);
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
ProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVertex = supportCallback.GetSupportVertexLocal();
return supportVertex;
}
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