/*
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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.shapes;
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import com.bulletphysics.BulletGlobals;
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import com.bulletphysics.linearmath.MatrixUtil;
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import com.bulletphysics.linearmath.Transform;
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import com.bulletphysics.linearmath.VectorUtil;
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import cz.advel.stack.Stack;
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import javax.vecmath.Vector3f;
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/**
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* ConvexInternalShape is an internal base class, shared by most convex shape implementations.
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*
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* @author jezek2
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*/
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public abstract class ConvexInternalShape extends ConvexShape {
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// local scaling. collisionMargin is not scaled !
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protected final Vector3f localScaling = new Vector3f(1f, 1f, 1f);
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protected final Vector3f implicitShapeDimensions = new Vector3f();
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protected float collisionMargin = BulletGlobals.CONVEX_DISTANCE_MARGIN;
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/**
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* getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.
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*/
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@Override
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public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
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getAabbSlow(t, aabbMin, aabbMax);
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}
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@Override
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public void getAabbSlow(Transform trans, Vector3f minAabb, Vector3f maxAabb) {
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float margin = getMargin();
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Vector3f vec = Stack.alloc(Vector3f.class);
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Vector3f tmp1 = Stack.alloc(Vector3f.class);
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Vector3f tmp2 = Stack.alloc(Vector3f.class);
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for (int i=0;i<3;i++)
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{
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vec.set(0f, 0f, 0f);
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VectorUtil.setCoord(vec, i, 1f);
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MatrixUtil.transposeTransform(tmp1, vec, trans.basis);
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localGetSupportingVertex(tmp1, tmp2);
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trans.transform(tmp2);
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VectorUtil.setCoord(maxAabb, i, VectorUtil.getCoord(tmp2, i) + margin);
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VectorUtil.setCoord(vec, i, -1f);
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MatrixUtil.transposeTransform(tmp1, vec, trans.basis);
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localGetSupportingVertex(tmp1, tmp2);
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trans.transform(tmp2);
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VectorUtil.setCoord(minAabb, i, VectorUtil.getCoord(tmp2, i) - margin);
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}
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}
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@Override
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public Vector3f localGetSupportingVertex(Vector3f vec, Vector3f out)
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{
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Vector3f supVertex = localGetSupportingVertexWithoutMargin(vec, out);
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if (getMargin() != 0f)
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{
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Vector3f vecnorm = (Vector3f) Stack.alloc(vec);
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if (vecnorm.lengthSquared() < (BulletGlobals.FLT_EPSILON * BulletGlobals.FLT_EPSILON)) {
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vecnorm.set(-1f, -1f, -1f);
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}
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vecnorm.normalize();
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supVertex.scaleAdd(getMargin(), vecnorm, supVertex);
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}
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return out;
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}
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public void setLocalScaling(Vector3f scaling) {
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localScaling.absolute(scaling);
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}
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public Vector3f getLocalScaling(Vector3f out) {
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out.set(localScaling);
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return out;
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}
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public float getMargin() {
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return collisionMargin;
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}
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public void setMargin(float margin) {
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this.collisionMargin = margin;
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}
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@Override
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public int getNumPreferredPenetrationDirections() {
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return 0;
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}
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@Override
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public void getPreferredPenetrationDirection(int index, Vector3f penetrationVector) {
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throw new InternalError();
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}
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}
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