/*
|
* 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);
|
}
|
}
|
|
}
|
