/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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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
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* the use of this software.
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*
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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
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* 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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package com.bulletphysics.collision.narrowphase;
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import com.bulletphysics.collision.narrowphase.ConvexCast.CastResult;
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import com.bulletphysics.collision.shapes.ConvexShape;
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import com.bulletphysics.collision.shapes.TriangleCallback;
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import com.bulletphysics.collision.shapes.TriangleShape;
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import com.bulletphysics.linearmath.Transform;
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import javax.vecmath.Vector3f;
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/**
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*
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* @author jezek2
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*/
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public abstract class TriangleConvexcastCallback extends TriangleCallback {
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public ConvexShape convexShape;
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public final Transform convexShapeFrom = new Transform();
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public final Transform convexShapeTo = new Transform();
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public final Transform triangleToWorld = new Transform();
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public float hitFraction;
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public float triangleCollisionMargin;
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public TriangleConvexcastCallback(ConvexShape convexShape, Transform convexShapeFrom, Transform convexShapeTo, Transform triangleToWorld, float triangleCollisionMargin) {
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this.convexShape = convexShape;
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this.convexShapeFrom.set(convexShapeFrom);
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this.convexShapeTo.set(convexShapeTo);
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this.triangleToWorld.set(triangleToWorld);
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this.hitFraction = 1f;
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this.triangleCollisionMargin = triangleCollisionMargin;
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}
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public void processTriangle(Vector3f[] triangle, int partId, int triangleIndex) {
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TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
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triangleShape.setMargin(triangleCollisionMargin);
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VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
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GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
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//#define USE_SUBSIMPLEX_CONVEX_CAST 1
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//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
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//#ifdef USE_SUBSIMPLEX_CONVEX_CAST
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// TODO: implement ContinuousConvexCollision
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SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(convexShape, triangleShape, simplexSolver);
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//#else
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// //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
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//btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
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//#endif //#USE_SUBSIMPLEX_CONVEX_CAST
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CastResult castResult = new CastResult();
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castResult.fraction = 1f;
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if (convexCaster.calcTimeOfImpact(convexShapeFrom, convexShapeTo, triangleToWorld, triangleToWorld, castResult)) {
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// add hit
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if (castResult.normal.lengthSquared() > 0.0001f) {
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if (castResult.fraction < hitFraction) {
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/* btContinuousConvexCast's normal is already in world space */
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/*
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//#ifdef USE_SUBSIMPLEX_CONVEX_CAST
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// rotate normal into worldspace
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convexShapeFrom.basis.transform(castResult.normal);
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//#endif //USE_SUBSIMPLEX_CONVEX_CAST
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*/
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castResult.normal.normalize();
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reportHit(castResult.normal,
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castResult.hitPoint,
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castResult.fraction,
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partId,
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triangleIndex);
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}
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}
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}
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}
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public abstract float reportHit(Vector3f hitNormalLocal, Vector3f hitPointLocal, float hitFraction, int partId, int triangleIndex);
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}
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