/*
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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.Transform;
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import com.bulletphysics.linearmath.TransformUtil;
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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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* StaticPlaneShape simulates an infinite non-moving (static) collision plane.
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*
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* @author jezek2
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*/
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public class StaticPlaneShape extends ConcaveShape {
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protected final Vector3f localAabbMin = new Vector3f();
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protected final Vector3f localAabbMax = new Vector3f();
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protected final Vector3f planeNormal = new Vector3f();
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protected float planeConstant;
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protected final Vector3f localScaling = new Vector3f(0f, 0f, 0f);
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public StaticPlaneShape(Vector3f planeNormal, float planeConstant) {
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this.planeNormal.normalize(planeNormal);
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this.planeConstant = planeConstant;
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}
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public Vector3f getPlaneNormal(Vector3f out) {
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out.set(planeNormal);
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return out;
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}
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public float getPlaneConstant() {
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return planeConstant;
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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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Vector3f tmp = 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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Vector3f halfExtents = Stack.alloc(Vector3f.class);
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halfExtents.sub(aabbMax, aabbMin);
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halfExtents.scale(0.5f);
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float radius = halfExtents.length();
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Vector3f center = Stack.alloc(Vector3f.class);
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center.add(aabbMax, aabbMin);
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center.scale(0.5f);
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// this is where the triangles are generated, given AABB and plane equation (normal/constant)
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Vector3f tangentDir0 = Stack.alloc(Vector3f.class), tangentDir1 = Stack.alloc(Vector3f.class);
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// tangentDir0/tangentDir1 can be precalculated
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TransformUtil.planeSpace1(planeNormal, tangentDir0, tangentDir1);
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Vector3f supVertex0 = Stack.alloc(Vector3f.class), supVertex1 = Stack.alloc(Vector3f.class);
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Vector3f projectedCenter = Stack.alloc(Vector3f.class);
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tmp.scale(planeNormal.dot(center) - planeConstant, planeNormal);
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projectedCenter.sub(center, tmp);
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Vector3f[] triangle = new Vector3f[] { Stack.alloc(Vector3f.class), Stack.alloc(Vector3f.class), Stack.alloc(Vector3f.class) };
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tmp1.scale(radius, tangentDir0);
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tmp2.scale(radius, tangentDir1);
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VectorUtil.add(triangle[0], projectedCenter, tmp1, tmp2);
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tmp1.scale(radius, tangentDir0);
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tmp2.scale(radius, tangentDir1);
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tmp.sub(tmp1, tmp2);
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VectorUtil.add(triangle[1], projectedCenter, tmp);
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tmp1.scale(radius, tangentDir0);
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tmp2.scale(radius, tangentDir1);
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tmp.sub(tmp1, tmp2);
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triangle[2].sub(projectedCenter, tmp);
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callback.processTriangle(triangle, 0, 0);
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tmp1.scale(radius, tangentDir0);
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tmp2.scale(radius, tangentDir1);
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tmp.sub(tmp1, tmp2);
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triangle[0].sub(projectedCenter, tmp);
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tmp1.scale(radius, tangentDir0);
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tmp2.scale(radius, tangentDir1);
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tmp.add(tmp1, tmp2);
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triangle[1].sub(projectedCenter, tmp);
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tmp1.scale(radius, tangentDir0);
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tmp2.scale(radius, tangentDir1);
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VectorUtil.add(triangle[2], projectedCenter, tmp1, tmp2);
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callback.processTriangle(triangle, 0, 1);
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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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aabbMin.set(-1e30f, -1e30f, -1e30f);
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aabbMax.set(1e30f, 1e30f, 1e30f);
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}
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@Override
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public BroadphaseNativeType getShapeType() {
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return BroadphaseNativeType.STATIC_PLANE_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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//moving concave objects not supported
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inertia.set(0f, 0f, 0f);
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}
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@Override
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public String getName() {
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return "STATICPLANE";
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}
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}
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