108 lines
3.6 KiB
C++
108 lines
3.6 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btStaticPlaneShape.h"
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#include "LinearMath/btTransformUtil.h"
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btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
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: btConcaveShape (), m_planeNormal(planeNormal.normalized()),
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m_planeConstant(planeConstant),
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m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
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{
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m_shapeType = STATIC_PLANE_PROXYTYPE;
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// btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
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}
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btStaticPlaneShape::~btStaticPlaneShape()
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{
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}
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void btStaticPlaneShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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(void)t;
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/*
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btVector3 infvec (btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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btVector3 center = m_planeNormal*m_planeConstant;
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aabbMin = center + infvec*m_planeNormal;
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aabbMax = aabbMin;
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aabbMin.setMin(center - infvec*m_planeNormal);
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aabbMax.setMax(center - infvec*m_planeNormal);
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*/
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aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
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aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
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}
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void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
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btScalar radius = halfExtents.length();
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btVector3 center = (aabbMax + aabbMin) * btScalar(0.5);
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//this is where the triangles are generated, given AABB and plane equation (normal/constant)
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btVector3 tangentDir0,tangentDir1;
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//tangentDir0/tangentDir1 can be precalculated
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btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
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btVector3 supVertex0,supVertex1;
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btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
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btVector3 triangle[3];
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triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
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triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
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triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
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callback->processTriangle(triangle,0,0);
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triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
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triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
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triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
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callback->processTriangle(triangle,0,1);
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}
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void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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(void)mass;
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//moving concave objects not supported
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inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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}
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void btStaticPlaneShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling;
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}
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const btVector3& btStaticPlaneShape::getLocalScaling() const
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{
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return m_localScaling;
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}
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