Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017 #include "btScaledBvhTriangleMeshShape.h"
00018
00019 btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
00020 :m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
00021 {
00022 m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
00023 }
00024
00025 btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
00026 {
00027 }
00028
00029
00030 class btScaledTriangleCallback : public btTriangleCallback
00031 {
00032 btTriangleCallback* m_originalCallback;
00033
00034 btVector3 m_localScaling;
00035
00036 public:
00037
00038 btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
00039 :m_originalCallback(originalCallback),
00040 m_localScaling(localScaling)
00041 {
00042 }
00043
00044 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
00045 {
00046 btVector3 newTriangle[3];
00047 newTriangle[0] = triangle[0]*m_localScaling;
00048 newTriangle[1] = triangle[1]*m_localScaling;
00049 newTriangle[2] = triangle[2]*m_localScaling;
00050 m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
00051 }
00052 };
00053
00054 void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
00055 {
00056 btScaledTriangleCallback scaledCallback(callback,m_localScaling);
00057
00058 btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
00059 btVector3 scaledAabbMin,scaledAabbMax;
00060
00062 scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
00063 scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
00064 scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
00065 scaledAabbMin[3] = 0.f;
00066
00067 scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
00068 scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
00069 scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
00070 scaledAabbMax[3] = 0.f;
00071
00072
00073 m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
00074 }
00075
00076
00077 void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
00078 {
00079 btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
00080 btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
00081
00082 btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
00083 btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
00084
00085 localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
00086 localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
00087 localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
00088 localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
00089 localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
00090 localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
00091
00092 btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
00093 btScalar margin = m_bvhTriMeshShape->getMargin();
00094 localHalfExtents += btVector3(margin,margin,margin);
00095 btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
00096
00097 btMatrix3x3 abs_b = trans.getBasis().absolute();
00098
00099 btVector3 center = trans(localCenter);
00100
00101 btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
00102 aabbMin = center - extent;
00103 aabbMax = center + extent;
00104
00105 }
00106
00107 void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
00108 {
00109 m_localScaling = scaling;
00110 }
00111
00112 const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
00113 {
00114 return m_localScaling;
00115 }
00116
00117 void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
00118 {
00120
00121 }