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00016 #include "btTriangleMeshShape.h"
00017 #include "LinearMath/btVector3.h"
00018 #include "LinearMath/btQuaternion.h"
00019 #include "btStridingMeshInterface.h"
00020 #include "LinearMath/btAabbUtil2.h"
00021 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
00022
00023
00024 btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
00025 : btConcaveShape (), m_meshInterface(meshInterface)
00026 {
00027 m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
00028 if(meshInterface->hasPremadeAabb())
00029 {
00030 meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
00031 }
00032 else
00033 {
00034 recalcLocalAabb();
00035 }
00036 }
00037
00038
00039 btTriangleMeshShape::~btTriangleMeshShape()
00040 {
00041
00042 }
00043
00044
00045
00046
00047 void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
00048 {
00049
00050 btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
00051 localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
00052 btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
00053
00054 btMatrix3x3 abs_b = trans.getBasis().absolute();
00055
00056 btVector3 center = trans(localCenter);
00057
00058 btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
00059 aabbMin = center - extent;
00060 aabbMax = center + extent;
00061 }
00062
00063 void btTriangleMeshShape::recalcLocalAabb()
00064 {
00065 for (int i=0;i<3;i++)
00066 {
00067 btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
00068 vec[i] = btScalar(1.);
00069 btVector3 tmp = localGetSupportingVertex(vec);
00070 m_localAabbMax[i] = tmp[i]+m_collisionMargin;
00071 vec[i] = btScalar(-1.);
00072 tmp = localGetSupportingVertex(vec);
00073 m_localAabbMin[i] = tmp[i]-m_collisionMargin;
00074 }
00075 }
00076
00077
00078
00079 class SupportVertexCallback : public btTriangleCallback
00080 {
00081
00082 btVector3 m_supportVertexLocal;
00083 public:
00084
00085 btTransform m_worldTrans;
00086 btScalar m_maxDot;
00087 btVector3 m_supportVecLocal;
00088
00089 SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
00090 : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
00091
00092 {
00093 m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
00094 }
00095
00096 virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex)
00097 {
00098 (void)partId;
00099 (void)triangleIndex;
00100 for (int i=0;i<3;i++)
00101 {
00102 btScalar dot = m_supportVecLocal.dot(triangle[i]);
00103 if (dot > m_maxDot)
00104 {
00105 m_maxDot = dot;
00106 m_supportVertexLocal = triangle[i];
00107 }
00108 }
00109 }
00110
00111 btVector3 GetSupportVertexWorldSpace()
00112 {
00113 return m_worldTrans(m_supportVertexLocal);
00114 }
00115
00116 btVector3 GetSupportVertexLocal()
00117 {
00118 return m_supportVertexLocal;
00119 }
00120
00121 };
00122
00123
00124 void btTriangleMeshShape::setLocalScaling(const btVector3& scaling)
00125 {
00126 m_meshInterface->setScaling(scaling);
00127 recalcLocalAabb();
00128 }
00129
00130 const btVector3& btTriangleMeshShape::getLocalScaling() const
00131 {
00132 return m_meshInterface->getScaling();
00133 }
00134
00135
00136
00137
00138
00139
00140
00141
00142
00143
00144 void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
00145 {
00146 struct FilteredCallback : public btInternalTriangleIndexCallback
00147 {
00148 btTriangleCallback* m_callback;
00149 btVector3 m_aabbMin;
00150 btVector3 m_aabbMax;
00151
00152 FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax)
00153 :m_callback(callback),
00154 m_aabbMin(aabbMin),
00155 m_aabbMax(aabbMax)
00156 {
00157 }
00158
00159 virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
00160 {
00161 if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
00162 {
00163
00164 m_callback->processTriangle(triangle,partId,triangleIndex);
00165 }
00166
00167 }
00168
00169 };
00170
00171 FilteredCallback filterCallback(callback,aabbMin,aabbMax);
00172
00173 m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
00174 }
00175
00176
00177
00178
00179
00180 void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
00181 {
00182 (void)mass;
00183
00184 btAssert(0);
00185 inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
00186 }
00187
00188
00189 btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
00190 {
00191 btVector3 supportVertex;
00192
00193 btTransform ident;
00194 ident.setIdentity();
00195
00196 SupportVertexCallback supportCallback(vec,ident);
00197
00198 btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
00199
00200 processAllTriangles(&supportCallback,-aabbMax,aabbMax);
00201
00202 supportVertex = supportCallback.GetSupportVertexLocal();
00203
00204 return supportVertex;
00205 }
00206
00207