/*
* 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.Transform;
import com.bulletphysics.linearmath.VectorUtil;
import cz.advel.stack.Stack;
import javax.vecmath.Vector3f;
/**
* Single triangle shape.
*
* @author jezek2
*/
public class TriangleShape extends PolyhedralConvexShape {
public final Vector3f[] vertices1/*[3]*/ = new Vector3f[] { new Vector3f(), new Vector3f(), new Vector3f() };
// JAVA NOTE: added
public TriangleShape() {
}
public TriangleShape(Vector3f p0, Vector3f p1, Vector3f p2) {
vertices1[0].set(p0);
vertices1[1].set(p1);
vertices1[2].set(p2);
}
// JAVA NOTE: added
public void init(Vector3f p0, Vector3f p1, Vector3f p2) {
vertices1[0].set(p0);
vertices1[1].set(p1);
vertices1[2].set(p2);
}
@Override
public int getNumVertices() {
return 3;
}
public Vector3f getVertexPtr(int index) {
return vertices1[index];
}
@Override
public void getVertex(int index, Vector3f vert) {
vert.set(vertices1[index]);
}
@Override
public BroadphaseNativeType getShapeType() {
return BroadphaseNativeType.TRIANGLE_SHAPE_PROXYTYPE;
}
@Override
public int getNumEdges() {
return 3;
}
@Override
public void getEdge(int i, Vector3f pa, Vector3f pb) {
getVertex(i, pa);
getVertex((i + 1) % 3, pb);
}
@Override
public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
// btAssert(0);
getAabbSlow(t, aabbMin, aabbMax);
}
@Override
public Vector3f localGetSupportingVertexWithoutMargin(Vector3f dir, Vector3f out) {
Vector3f dots = Stack.alloc(Vector3f.class);
dots.set(dir.dot(vertices1[0]), dir.dot(vertices1[1]), dir.dot(vertices1[2]));
out.set(vertices1[VectorUtil.maxAxis(dots)]);
return out;
}
@Override
public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors) {
Vector3f dots = Stack.alloc(Vector3f.class);
for (int i = 0; i < numVectors; i++) {
Vector3f dir = vectors[i];
dots.set(dir.dot(vertices1[0]), dir.dot(vertices1[1]), dir.dot(vertices1[2]));
supportVerticesOut[i].set(vertices1[VectorUtil.maxAxis(dots)]);
}
}
@Override
public void getPlane(Vector3f planeNormal, Vector3f planeSupport, int i) {
getPlaneEquation(i,planeNormal,planeSupport);
}
@Override
public int getNumPlanes() {
return 1;
}
public void calcNormal(Vector3f normal) {
Vector3f tmp1 = Stack.alloc(Vector3f.class);
Vector3f tmp2 = Stack.alloc(Vector3f.class);
tmp1.sub(vertices1[1], vertices1[0]);
tmp2.sub(vertices1[2], vertices1[0]);
normal.cross(tmp1, tmp2);
normal.normalize();
}
public void getPlaneEquation(int i, Vector3f planeNormal, Vector3f planeSupport) {
calcNormal(planeNormal);
planeSupport.set(vertices1[0]);
}
@Override
public void calculateLocalInertia(float mass, Vector3f inertia) {
assert (false);
inertia.set(0f, 0f, 0f);
}
@Override
public boolean isInside(Vector3f pt, float tolerance) {
Vector3f normal = Stack.alloc(Vector3f.class);
calcNormal(normal);
// distance to plane
float dist = pt.dot(normal);
float planeconst = vertices1[0].dot(normal);
dist -= planeconst;
if (dist >= -tolerance && dist <= tolerance) {
// inside check on edge-planes
int i;
for (i = 0; i < 3; i++) {
Vector3f pa = Stack.alloc(Vector3f.class), pb = Stack.alloc(Vector3f.class);
getEdge(i, pa, pb);
Vector3f edge = Stack.alloc(Vector3f.class);
edge.sub(pb, pa);
Vector3f edgeNormal = Stack.alloc(Vector3f.class);
edgeNormal.cross(edge, normal);
edgeNormal.normalize();
/*float*/ dist = pt.dot(edgeNormal);
float edgeConst = pa.dot(edgeNormal);
dist -= edgeConst;
if (dist < -tolerance) {
return false;
}
}
return true;
}
return false;
}
@Override
public String getName() {
return "Triangle";
}
@Override
public int getNumPreferredPenetrationDirections() {
return 2;
}
@Override
public void getPreferredPenetrationDirection(int index, Vector3f penetrationVector) {
calcNormal(penetrationVector);
if (index != 0) {
penetrationVector.scale(-1f);
}
}
}