/*
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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 com.bulletphysics.linearmath.VectorUtil;
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import cz.advel.stack.Stack;
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import javax.vecmath.Matrix3f;
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import javax.vecmath.Vector3f;
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// JAVA NOTE: ScaledBvhTriangleMeshShape from 2.73 SP1
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/**
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* The ScaledBvhTriangleMeshShape allows to instance a scaled version of an existing
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* {@link BvhTriangleMeshShape}. Note that each {@link BvhTriangleMeshShape} still can
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* have its own local scaling, independent from this ScaledBvhTriangleMeshShape 'localScaling'.
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*
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* @author jezek2
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*/
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public class ScaledBvhTriangleMeshShape extends ConcaveShape {
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protected final Vector3f localScaling = new Vector3f();
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protected BvhTriangleMeshShape bvhTriMeshShape;
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public ScaledBvhTriangleMeshShape(BvhTriangleMeshShape childShape, Vector3f localScaling) {
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this.localScaling.set(localScaling);
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this.bvhTriMeshShape = childShape;
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}
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public BvhTriangleMeshShape getChildShape() {
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return bvhTriMeshShape;
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}
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@Override
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public void processAllTriangles(TriangleCallback callback, Vector3f aabbMin, Vector3f aabbMax) {
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ScaledTriangleCallback scaledCallback = new ScaledTriangleCallback(callback, localScaling);
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Vector3f invLocalScaling = Stack.alloc(Vector3f.class);
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invLocalScaling.set(1.f / localScaling.x, 1.f / localScaling.y, 1.f / localScaling.z);
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Vector3f scaledAabbMin = Stack.alloc(Vector3f.class);
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Vector3f scaledAabbMax = Stack.alloc(Vector3f.class);
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// support negative scaling
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scaledAabbMin.x = localScaling.x >= 0f ? aabbMin.x * invLocalScaling.x : aabbMax.x * invLocalScaling.x;
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scaledAabbMin.y = localScaling.y >= 0f ? aabbMin.y * invLocalScaling.y : aabbMax.y * invLocalScaling.y;
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scaledAabbMin.z = localScaling.z >= 0f ? aabbMin.z * invLocalScaling.z : aabbMax.z * invLocalScaling.z;
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scaledAabbMax.x = localScaling.x <= 0f ? aabbMin.x * invLocalScaling.x : aabbMax.x * invLocalScaling.x;
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scaledAabbMax.y = localScaling.y <= 0f ? aabbMin.y * invLocalScaling.y : aabbMax.y * invLocalScaling.y;
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scaledAabbMax.z = localScaling.z <= 0f ? aabbMin.z * invLocalScaling.z : aabbMax.z * invLocalScaling.z;
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bvhTriMeshShape.processAllTriangles(scaledCallback, scaledAabbMin, scaledAabbMax);
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}
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@Override
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public void getAabb(Transform trans, Vector3f aabbMin, Vector3f aabbMax) {
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Vector3f localAabbMin = bvhTriMeshShape.getLocalAabbMin(Stack.alloc(Vector3f.class));
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Vector3f localAabbMax = bvhTriMeshShape.getLocalAabbMax(Stack.alloc(Vector3f.class));
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Vector3f tmpLocalAabbMin = Stack.alloc(Vector3f.class);
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Vector3f tmpLocalAabbMax = Stack.alloc(Vector3f.class);
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VectorUtil.mul(tmpLocalAabbMin, localAabbMin, localScaling);
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VectorUtil.mul(tmpLocalAabbMax, localAabbMax, localScaling);
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localAabbMin.x = (localScaling.x >= 0f) ? tmpLocalAabbMin.x : tmpLocalAabbMax.x;
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localAabbMin.y = (localScaling.y >= 0f) ? tmpLocalAabbMin.y : tmpLocalAabbMax.y;
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localAabbMin.z = (localScaling.z >= 0f) ? tmpLocalAabbMin.z : tmpLocalAabbMax.z;
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localAabbMax.x = (localScaling.x <= 0f) ? tmpLocalAabbMin.x : tmpLocalAabbMax.x;
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localAabbMax.y = (localScaling.y <= 0f) ? tmpLocalAabbMin.y : tmpLocalAabbMax.y;
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localAabbMax.z = (localScaling.z <= 0f) ? tmpLocalAabbMin.z : tmpLocalAabbMax.z;
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Vector3f localHalfExtents = Stack.alloc(Vector3f.class);
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localHalfExtents.sub(localAabbMax, localAabbMin);
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localHalfExtents.scale(0.5f);
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float margin = bvhTriMeshShape.getMargin();
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localHalfExtents.x += margin;
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localHalfExtents.y += margin;
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localHalfExtents.z += margin;
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Vector3f localCenter = Stack.alloc(Vector3f.class);
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localCenter.add(localAabbMax, localAabbMin);
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localCenter.scale(0.5f);
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Matrix3f abs_b = (Matrix3f) Stack.alloc(trans.basis);
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MatrixUtil.absolute(abs_b);
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Vector3f center = (Vector3f) Stack.alloc(localCenter);
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trans.transform(center);
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Vector3f extent = Stack.alloc(Vector3f.class);
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Vector3f tmp = Stack.alloc(Vector3f.class);
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abs_b.getRow(0, tmp);
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extent.x = tmp.dot(localHalfExtents);
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abs_b.getRow(1, tmp);
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extent.y = tmp.dot(localHalfExtents);
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abs_b.getRow(2, tmp);
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extent.z = tmp.dot(localHalfExtents);
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aabbMin.sub(center, extent);
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aabbMax.add(center, extent);
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}
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@Override
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public BroadphaseNativeType getShapeType() {
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return BroadphaseNativeType.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
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}
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@Override
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public void setLocalScaling(Vector3f scaling) {
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localScaling.set(scaling);
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}
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@Override
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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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@Override
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public void calculateLocalInertia(float mass, Vector3f inertia) {
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}
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@Override
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public String getName() {
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return "SCALEDBVHTRIANGLEMESH";
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}
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////////////////////////////////////////////////////////////////////////////
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private static class ScaledTriangleCallback extends TriangleCallback {
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private TriangleCallback originalCallback;
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private Vector3f localScaling;
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private Vector3f[] newTriangle = new Vector3f[3];
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public ScaledTriangleCallback(TriangleCallback originalCallback, Vector3f localScaling) {
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this.originalCallback = originalCallback;
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this.localScaling = localScaling;
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for (int i=0; i<newTriangle.length; i++) {
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newTriangle[i] = new Vector3f();
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}
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}
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public void processTriangle(Vector3f[] triangle, int partId, int triangleIndex) {
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VectorUtil.mul(newTriangle[0], triangle[0], localScaling);
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VectorUtil.mul(newTriangle[1], triangle[1], localScaling);
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VectorUtil.mul(newTriangle[2], triangle[2], localScaling);
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originalCallback.processTriangle(newTriangle, partId, triangleIndex);
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}
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}
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}
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