forked from bartvdbraak/blender
165 lines
4.3 KiB
C++
165 lines
4.3 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#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)
|
|
{
|
|
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;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
class LocalAabbCalculator : public TriangleCallback
|
|
{
|
|
|
|
public:
|
|
|
|
SimdVector3 m_localAabbMin;
|
|
SimdVector3 m_localAabbMax;
|
|
|
|
LocalAabbCalculator()
|
|
: m_localAabbMin(1e30f,1e30f,1e30f), m_localAabbMax(-1e30f,-1e30f,-1e30f)
|
|
{
|
|
}
|
|
|
|
virtual void ProcessTriangle( SimdVector3* triangle,int partId, int triangleIndex)
|
|
{
|
|
for (int i=0;i<3;i++)
|
|
{
|
|
m_localAabbMin.setMin(triangle[i]);
|
|
m_localAabbMax.setMax(triangle[i]);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
void TriangleMeshShape::RecalcLocalAabb()
|
|
{
|
|
|
|
LocalAabbCalculator aabbCalculator;
|
|
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
|
|
|
NonVirtualProcessAllTriangles(&aabbCalculator,-aabbMax,aabbMax);
|
|
SimdVector3 marginVec(m_collisionMargin,m_collisionMargin,m_collisionMargin);
|
|
m_localAabbMax = aabbCalculator.m_localAabbMax + marginVec;
|
|
m_localAabbMin = aabbCalculator.m_localAabbMin - marginVec;
|
|
|
|
}
|
|
|
|
|
|
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::NonVirtualProcessAllTriangles(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,partId,triangleIndex);
|
|
}
|
|
|
|
}
|
|
|
|
};
|
|
|
|
FilteredCallback filterCallback(callback,aabbMin,aabbMax);
|
|
|
|
m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
|
|
|
|
}
|
|
|
|
|
|
void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
|
{
|
|
NonVirtualProcessAllTriangles(callback,aabbMin,aabbMax);
|
|
}
|
|
|
|
void TriangleMeshShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
|
{
|
|
//moving concave objects not supported
|
|
assert(0);
|
|
inertia.setValue(0.f,0.f,0.f);
|
|
}
|
|
|