Package com.bulletphysics.linearmath

Examples of com.bulletphysics.linearmath.Transform.mul()

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  }

  public static void collideTT(Node root0, Transform xform0, Node root1, Transform xform1, ICollide policy) {
    Transform xform = Stack.alloc(Transform.class);
    xform.inverse(xform0);
    xform.mul(xform1);
    collideTT(root0, root1, xform, policy);
  }

  public static void collideTV(Node root, DbvtAabbMm volume, ICollide policy) {
    //DBVT_CHECKTYPE
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    float planeConstant = planeShape.getPlaneConstant();

    Transform planeInConvex = Stack.alloc(Transform.class);
    convexObj.getWorldTransform(planeInConvex);
    planeInConvex.inverse();
    planeInConvex.mul(planeObj.getWorldTransform(tmpTrans));

    Transform convexInPlaneTrans = Stack.alloc(Transform.class);
    convexInPlaneTrans.inverse(planeObj.getWorldTransform(tmpTrans));
    convexInPlaneTrans.mul(convexObj.getWorldTransform(tmpTrans));
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    planeInConvex.inverse();
    planeInConvex.mul(planeObj.getWorldTransform(tmpTrans));

    Transform convexInPlaneTrans = Stack.alloc(Transform.class);
    convexInPlaneTrans.inverse(planeObj.getWorldTransform(tmpTrans));
    convexInPlaneTrans.mul(convexObj.getWorldTransform(tmpTrans));

    Vector3f tmp = Stack.alloc(Vector3f.class);
    tmp.negate(planeNormal);
    planeInConvex.basis.transform(tmp);
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    // recalc aabbs
    Transform convexInTriangleSpace = Stack.alloc(Transform.class);

    triBody.getWorldTransform(convexInTriangleSpace);
    convexInTriangleSpace.inverse();
    convexInTriangleSpace.mul(convexBody.getWorldTransform(Stack.alloc(Transform.class)));

    CollisionShape convexShape = (CollisionShape)convexBody.getCollisionShape();
    //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
    convexShape.getAabb(convexInTriangleSpace, aabbMin, aabbMax);
    float extraMargin = collisionMarginTriangle;
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    Transform triInv = triBody.getWorldTransform(Stack.alloc(Transform.class));
    triInv.inverse();

    Transform convexFromLocal = Stack.alloc(Transform.class);
    convexFromLocal.mul(triInv, convexbody.getWorldTransform(tmpTrans));

    Transform convexToLocal = Stack.alloc(Transform.class);
    convexToLocal.mul(triInv, convexbody.getInterpolationWorldTransform(tmpTrans));

    if (triBody.getCollisionShape().isConcave()) {
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    Transform convexFromLocal = Stack.alloc(Transform.class);
    convexFromLocal.mul(triInv, convexbody.getWorldTransform(tmpTrans));

    Transform convexToLocal = Stack.alloc(Transform.class);
    convexToLocal.mul(triInv, convexbody.getInterpolationWorldTransform(tmpTrans));

    if (triBody.getCollisionShape().isConcave()) {
      Vector3f rayAabbMin = Stack.alloc(convexFromLocal.origin);
      VectorUtil.setMin(rayAabbMin, convexToLocal.origin);
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