/*
* 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.collision.broadphase.BroadphaseNativeType;
import com.bulletphysics.linearmath.MatrixUtil;
import com.bulletphysics.linearmath.Transform;
import com.bulletphysics.linearmath.VectorUtil;
import cz.advel.stack.Stack;
import javax.vecmath.Matrix3f;
import javax.vecmath.Vector3f;
// JAVA NOTE: ScaledBvhTriangleMeshShape from 2.73 SP1
/**
* The ScaledBvhTriangleMeshShape allows to instance a scaled version of an existing
* {@link BvhTriangleMeshShape}. Note that each {@link BvhTriangleMeshShape} still can
* have its own local scaling, independent from this ScaledBvhTriangleMeshShape 'localScaling'.
*
* @author jezek2
*/
public class ScaledBvhTriangleMeshShape extends ConcaveShape {
protected final Vector3f localScaling = new Vector3f();
protected BvhTriangleMeshShape bvhTriMeshShape;
public ScaledBvhTriangleMeshShape(BvhTriangleMeshShape childShape, Vector3f localScaling) {
this.localScaling.set(localScaling);
this.bvhTriMeshShape = childShape;
}
public BvhTriangleMeshShape getChildShape() {
return bvhTriMeshShape;
}
@Override
public void processAllTriangles(TriangleCallback callback, Vector3f aabbMin, Vector3f aabbMax) {
ScaledTriangleCallback scaledCallback = new ScaledTriangleCallback(callback, localScaling);
Vector3f invLocalScaling = Stack.alloc(Vector3f.class);
invLocalScaling.set(1.f / localScaling.x, 1.f / localScaling.y, 1.f / localScaling.z);
Vector3f scaledAabbMin = Stack.alloc(Vector3f.class);
Vector3f scaledAabbMax = Stack.alloc(Vector3f.class);
// support negative scaling
scaledAabbMin.x = localScaling.x >= 0f ? aabbMin.x * invLocalScaling.x : aabbMax.x * invLocalScaling.x;
scaledAabbMin.y = localScaling.y >= 0f ? aabbMin.y * invLocalScaling.y : aabbMax.y * invLocalScaling.y;
scaledAabbMin.z = localScaling.z >= 0f ? aabbMin.z * invLocalScaling.z : aabbMax.z * invLocalScaling.z;
scaledAabbMax.x = localScaling.x <= 0f ? aabbMin.x * invLocalScaling.x : aabbMax.x * invLocalScaling.x;
scaledAabbMax.y = localScaling.y <= 0f ? aabbMin.y * invLocalScaling.y : aabbMax.y * invLocalScaling.y;
scaledAabbMax.z = localScaling.z <= 0f ? aabbMin.z * invLocalScaling.z : aabbMax.z * invLocalScaling.z;
bvhTriMeshShape.processAllTriangles(scaledCallback, scaledAabbMin, scaledAabbMax);
}
@Override
public void getAabb(Transform trans, Vector3f aabbMin, Vector3f aabbMax) {
Vector3f localAabbMin = bvhTriMeshShape.getLocalAabbMin(Stack.alloc(Vector3f.class));
Vector3f localAabbMax = bvhTriMeshShape.getLocalAabbMax(Stack.alloc(Vector3f.class));
Vector3f tmpLocalAabbMin = Stack.alloc(Vector3f.class);
Vector3f tmpLocalAabbMax = Stack.alloc(Vector3f.class);
VectorUtil.mul(tmpLocalAabbMin, localAabbMin, localScaling);
VectorUtil.mul(tmpLocalAabbMax, localAabbMax, localScaling);
localAabbMin.x = (localScaling.x >= 0f) ? tmpLocalAabbMin.x : tmpLocalAabbMax.x;
localAabbMin.y = (localScaling.y >= 0f) ? tmpLocalAabbMin.y : tmpLocalAabbMax.y;
localAabbMin.z = (localScaling.z >= 0f) ? tmpLocalAabbMin.z : tmpLocalAabbMax.z;
localAabbMax.x = (localScaling.x <= 0f) ? tmpLocalAabbMin.x : tmpLocalAabbMax.x;
localAabbMax.y = (localScaling.y <= 0f) ? tmpLocalAabbMin.y : tmpLocalAabbMax.y;
localAabbMax.z = (localScaling.z <= 0f) ? tmpLocalAabbMin.z : tmpLocalAabbMax.z;
Vector3f localHalfExtents = Stack.alloc(Vector3f.class);
localHalfExtents.sub(localAabbMax, localAabbMin);
localHalfExtents.scale(0.5f);
float margin = bvhTriMeshShape.getMargin();
localHalfExtents.x += margin;
localHalfExtents.y += margin;
localHalfExtents.z += margin;
Vector3f localCenter = Stack.alloc(Vector3f.class);
localCenter.add(localAabbMax, localAabbMin);
localCenter.scale(0.5f);
Matrix3f abs_b = Stack.alloc(trans.basis);
MatrixUtil.absolute(abs_b);
Vector3f center = Stack.alloc(localCenter);
trans.transform(center);
Vector3f extent = Stack.alloc(Vector3f.class);
Vector3f tmp = Stack.alloc(Vector3f.class);
abs_b.getRow(0, tmp);
extent.x = tmp.dot(localHalfExtents);
abs_b.getRow(1, tmp);
extent.y = tmp.dot(localHalfExtents);
abs_b.getRow(2, tmp);
extent.z = tmp.dot(localHalfExtents);
aabbMin.sub(center, extent);
aabbMax.add(center, extent);
}
@Override
public BroadphaseNativeType getShapeType() {
return BroadphaseNativeType.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
}
@Override
public void setLocalScaling(Vector3f scaling) {
localScaling.set(scaling);
}
@Override
public Vector3f getLocalScaling(Vector3f out) {
out.set(localScaling);
return out;
}
@Override
public void calculateLocalInertia(float mass, Vector3f inertia) {
}
@Override
public String getName() {
return "SCALEDBVHTRIANGLEMESH";
}
////////////////////////////////////////////////////////////////////////////
private static class ScaledTriangleCallback extends TriangleCallback {
private TriangleCallback originalCallback;
private Vector3f localScaling;
private Vector3f[] newTriangle = new Vector3f[3];
public ScaledTriangleCallback(TriangleCallback originalCallback, Vector3f localScaling) {
this.originalCallback = originalCallback;
this.localScaling = localScaling;
for (int i=0; i<newTriangle.length; i++) {
newTriangle[i] = new Vector3f();
}
}
public void processTriangle(Vector3f[] triangle, int partId, int triangleIndex) {
VectorUtil.mul(newTriangle[0], triangle[0], localScaling);
VectorUtil.mul(newTriangle[1], triangle[1], localScaling);
VectorUtil.mul(newTriangle[2], triangle[2], localScaling);
originalCallback.processTriangle(newTriangle, partId, triangleIndex);
}
}
}