/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* This source file is part of GIMPACT Library.
*
* For the latest info, see http://gimpact.sourceforge.net/
*
* Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
* email: projectileman@yahoo.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.extras.gimpact;
import com.bulletphysics.collision.shapes.TriangleShape;
import com.bulletphysics.extras.gimpact.BoxCollision.AABB;
import com.bulletphysics.linearmath.Transform;
import cz.advel.stack.Stack;
import javax.vecmath.Vector3f;
import javax.vecmath.Vector4f;
/**
*
* @author jezek2
*/
public class TriangleShapeEx extends TriangleShape {
public TriangleShapeEx() {
super();
}
public TriangleShapeEx(Vector3f p0, Vector3f p1, Vector3f p2) {
super(p0, p1, p2);
}
@Override
public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
Vector3f tv0 = Stack.alloc(vertices1[0]);
t.transform(tv0);
Vector3f tv1 = Stack.alloc(vertices1[1]);
t.transform(tv1);
Vector3f tv2 = Stack.alloc(vertices1[2]);
t.transform(tv2);
AABB trianglebox = Stack.alloc(AABB.class);
trianglebox.init(tv0,tv1,tv2,collisionMargin);
aabbMin.set(trianglebox.min);
aabbMax.set(trianglebox.max);
}
public void applyTransform(Transform t) {
t.transform(vertices1[0]);
t.transform(vertices1[1]);
t.transform(vertices1[2]);
}
public void buildTriPlane(Vector4f plane) {
Vector3f tmp1 = Stack.alloc(Vector3f.class);
Vector3f tmp2 = Stack.alloc(Vector3f.class);
Vector3f normal = Stack.alloc(Vector3f.class);
tmp1.sub(vertices1[1], vertices1[0]);
tmp2.sub(vertices1[2], vertices1[0]);
normal.cross(tmp1, tmp2);
normal.normalize();
plane.set(normal.x, normal.y, normal.z, vertices1[0].dot(normal));
}
public boolean overlap_test_conservative(TriangleShapeEx other) {
float total_margin = getMargin() + other.getMargin();
Vector4f plane0 = Stack.alloc(Vector4f.class);
buildTriPlane(plane0);
Vector4f plane1 = Stack.alloc(Vector4f.class);
other.buildTriPlane(plane1);
// classify points on other triangle
float dis0 = ClipPolygon.distance_point_plane(plane0, other.vertices1[0]) - total_margin;
float dis1 = ClipPolygon.distance_point_plane(plane0, other.vertices1[1]) - total_margin;
float dis2 = ClipPolygon.distance_point_plane(plane0, other.vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) {
return false; // classify points on this triangle
}
dis0 = ClipPolygon.distance_point_plane(plane1, vertices1[0]) - total_margin;
dis1 = ClipPolygon.distance_point_plane(plane1, vertices1[1]) - total_margin;
dis2 = ClipPolygon.distance_point_plane(plane1, vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) {
return false;
}
return true;
}
}