Package com.bulletphysics.linearmath

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

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    tmp.negate(planeNormal);
    planeInConvex.basis.transform(tmp);

    Vector3f vtx = convexShape.localGetSupportingVertex(tmp, Stack.alloc(Vector3f.class));
    Vector3f vtxInPlane = Stack.alloc(vtx);
    convexInPlaneTrans.transform(vtxInPlane);

    float distance = (planeNormal.dot(vtxInPlane) - planeConstant);

    Vector3f vtxInPlaneProjected = Stack.alloc(Vector3f.class);
    tmp.scale(distance, planeNormal);
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      Transform tr = ob.getWorldTransform(Stack.alloc(Transform.class));

      Vector3f tmp1 = Stack.alloc(Vector3f.class);
      Vector3f tmp2 = Stack.alloc(Vector3f.class);

      tmp1.set(triangle[0]); tr.transform(tmp1);
      tmp2.set(triangle[1]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      tmp1.set(triangle[1]); tr.transform(tmp1);
      tmp2.set(triangle[2]); tr.transform(tmp2);
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      Vector3f tmp1 = Stack.alloc(Vector3f.class);
      Vector3f tmp2 = Stack.alloc(Vector3f.class);

      tmp1.set(triangle[0]); tr.transform(tmp1);
      tmp2.set(triangle[1]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      tmp1.set(triangle[1]); tr.transform(tmp1);
      tmp2.set(triangle[2]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);
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      tmp1.set(triangle[0]); tr.transform(tmp1);
      tmp2.set(triangle[1]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      tmp1.set(triangle[1]); tr.transform(tmp1);
      tmp2.set(triangle[2]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      tmp1.set(triangle[2]); tr.transform(tmp1);
      tmp2.set(triangle[0]); tr.transform(tmp2);
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      tmp1.set(triangle[0]); tr.transform(tmp1);
      tmp2.set(triangle[1]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      tmp1.set(triangle[1]); tr.transform(tmp1);
      tmp2.set(triangle[2]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      tmp1.set(triangle[2]); tr.transform(tmp1);
      tmp2.set(triangle[0]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);
View Full Code Here
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      tmp1.set(triangle[1]); tr.transform(tmp1);
      tmp2.set(triangle[2]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      tmp1.set(triangle[2]); tr.transform(tmp1);
      tmp2.set(triangle[0]); tr.transform(tmp2);
      dispatchInfoPtr.debugDraw.drawLine(tmp1, tmp2, color);

      //btVector3 center = triangle[0] + triangle[1]+triangle[2];
      //center *= btScalar(0.333333);
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