/*
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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.collision.broadphase.BroadphaseNativeType;
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import com.bulletphysics.linearmath.MatrixUtil;
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import com.bulletphysics.linearmath.Transform;
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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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* MinkowskiSumShape is only for advanced users. This shape represents implicit
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* based minkowski sum of two convex implicit shapes.
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*
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* @author jezek2
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*/
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public class MinkowskiSumShape extends ConvexInternalShape {
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private final Transform transA = new Transform();
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private final Transform transB = new Transform();
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private ConvexShape shapeA;
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private ConvexShape shapeB;
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public MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB) {
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this.shapeA = shapeA;
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this.shapeB = shapeB;
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this.transA.setIdentity();
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this.transB.setIdentity();
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}
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@Override
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public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out) {
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Vector3f tmp = Stack.alloc(Vector3f.class);
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Vector3f supVertexA = Stack.alloc(Vector3f.class);
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Vector3f supVertexB = Stack.alloc(Vector3f.class);
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// btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
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tmp.negate(vec);
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MatrixUtil.transposeTransform(tmp, tmp, transA.basis);
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shapeA.localGetSupportingVertexWithoutMargin(tmp, supVertexA);
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transA.transform(supVertexA);
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// btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
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MatrixUtil.transposeTransform(tmp, vec, transB.basis);
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shapeB.localGetSupportingVertexWithoutMargin(tmp, supVertexB);
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transB.transform(supVertexB);
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//return supVertexA - supVertexB;
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out.sub(supVertexA, supVertexB);
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return out;
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}
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@Override
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public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors) {
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//todo: could make recursive use of batching. probably this shape is not used frequently.
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for (int i = 0; i < numVectors; i++) {
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localGetSupportingVertexWithoutMargin(vectors[i], supportVerticesOut[i]);
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}
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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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throw new UnsupportedOperationException("Not supported yet.");
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}
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@Override
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public BroadphaseNativeType getShapeType() {
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return BroadphaseNativeType.MINKOWSKI_SUM_SHAPE_PROXYTYPE;
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}
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@Override
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public void calculateLocalInertia(float mass, Vector3f inertia) {
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assert (false);
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inertia.set(0, 0, 0);
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}
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@Override
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public String getName() {
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return "MinkowskiSum";
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}
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@Override
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public float getMargin() {
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return shapeA.getMargin() + shapeB.getMargin();
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}
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public void setTransformA(Transform transA) {
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this.transA.set(transA);
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}
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public void setTransformB(Transform transB) {
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this.transB.set(transB);
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}
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public void getTransformA(Transform dest) {
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dest.set(transA);
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}
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public void getTransformB(Transform dest) {
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dest.set(transB);
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}
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}
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