/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
*
* 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.
*/
package com.bulletphysics.collision.shapes;
import com.bulletphysics.BulletGlobals;
import com.bulletphysics.linearmath.MatrixUtil;
import com.bulletphysics.linearmath.Transform;
import com.bulletphysics.linearmath.VectorUtil;
import cz.advel.stack.Stack;
import javax.vecmath.Vector3f;
/**
* ConvexInternalShape is an internal base class, shared by most convex shape implementations.
*
* @author jezek2
*/
public abstract class ConvexInternalShape extends ConvexShape {
// local scaling. collisionMargin is not scaled !
protected final Vector3f localScaling = new Vector3f(1f, 1f, 1f);
protected final Vector3f implicitShapeDimensions = new Vector3f();
protected float collisionMargin = BulletGlobals.CONVEX_DISTANCE_MARGIN;
/**
* getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.
*/
@Override
public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
getAabbSlow(t, aabbMin, aabbMax);
}
@Override
public void getAabbSlow(Transform trans, Vector3f minAabb, Vector3f maxAabb) {
float margin = getMargin();
Vector3f vec = Stack.alloc(Vector3f.class);
Vector3f tmp1 = Stack.alloc(Vector3f.class);
Vector3f tmp2 = Stack.alloc(Vector3f.class);
for (int i=0;i<3;i++)
{
vec.set(0f, 0f, 0f);
VectorUtil.setCoord(vec, i, 1f);
MatrixUtil.transposeTransform(tmp1, vec, trans.basis);
localGetSupportingVertex(tmp1, tmp2);
trans.transform(tmp2);
VectorUtil.setCoord(maxAabb, i, VectorUtil.getCoord(tmp2, i) + margin);
VectorUtil.setCoord(vec, i, -1f);
MatrixUtil.transposeTransform(tmp1, vec, trans.basis);
localGetSupportingVertex(tmp1, tmp2);
trans.transform(tmp2);
VectorUtil.setCoord(minAabb, i, VectorUtil.getCoord(tmp2, i) - margin);
}
}
@Override
public Vector3f localGetSupportingVertex(Vector3f vec, Vector3f out) {
Vector3f supVertex = localGetSupportingVertexWithoutMargin(vec, out);
if (getMargin() != 0f) {
Vector3f vecnorm = Stack.alloc(vec);
if (vecnorm.lengthSquared() < (BulletGlobals.FLT_EPSILON * BulletGlobals.FLT_EPSILON)) {
vecnorm.set(-1f, -1f, -1f);
}
vecnorm.normalize();
supVertex.scaleAdd(getMargin(), vecnorm, supVertex);
}
return out;
}
public void setLocalScaling(Vector3f scaling) {
localScaling.absolute(scaling);
}
public Vector3f getLocalScaling(Vector3f out) {
out.set(localScaling);
return out;
}
public float getMargin() {
return collisionMargin;
}
public void setMargin(float margin) {
this.collisionMargin = margin;
}
@Override
public int getNumPreferredPenetrationDirections() {
return 0;
}
@Override
public void getPreferredPenetrationDirection(int index, Vector3f penetrationVector) {
throw new InternalError();
}
}