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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* 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"
TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
: m_meshInterface(meshInterface)
{
}
TriangleMeshShape::~TriangleMeshShape()
{
}
void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
{
SimdScalar margin = 0.5f;
for (int i=0;i<3;i++)
{
SimdVector3 vec(0.f,0.f,0.f);
vec[i] = 1.f;
SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
aabbMax[i] = tmp[i]+margin;
vec[i] = -1.f;
tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
aabbMin[i] = tmp[i]-margin;
}
}
TriangleCallback::~TriangleCallback()
{
}
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);
}
void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
{
SimdVector3 meshScaling = m_meshInterface->getScaling();
int numtotalphysicsverts = 0;
int part,graphicssubparts = m_meshInterface->getNumSubParts();
for (part=0;part<graphicssubparts ;part++)
{
unsigned char * vertexbase;
unsigned char * indexbase;
int indexstride;
PHY_ScalarType type;
PHY_ScalarType gfxindextype;
int stride,numverts,numtriangles;
m_meshInterface->getLockedVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
numtotalphysicsverts+=numtriangles*3; //upper bound
int gfxindex;
SimdVector3 triangle[3];
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
int graphicsindex=0;
for (int j=2;j>=0;j--)
{
ASSERT(gfxindextype == PHY_INTEGER);
int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
graphicsindex = gfxbase[j];
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangle[j] = SimdVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
if (TestTriangleAgainstAabb2(&triangle[0],aabbMin,aabbMax))
{
//check aabb in triangle-space, before doing this
callback->ProcessTriangle(triangle);
}
}
m_meshInterface->unLockVertexBase(part);
}
}
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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