/*
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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 cz.advel.stack.Stack;
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import javax.vecmath.Vector3f;
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/**
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* UniformScalingShape allows to re-use uniform scaled instances of {@link ConvexShape}
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* in a memory efficient way. Istead of using {@link UniformScalingShape}, it is better
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* to use the non-uniform setLocalScaling method on convex shapes that implement it.
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*
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* @author jezek2
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*/
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public class UniformScalingShape extends ConvexShape {
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private ConvexShape childConvexShape;
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private float uniformScalingFactor;
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public UniformScalingShape(ConvexShape convexChildShape, float uniformScalingFactor) {
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this.childConvexShape = convexChildShape;
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this.uniformScalingFactor = uniformScalingFactor;
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}
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public float getUniformScalingFactor() {
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return uniformScalingFactor;
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}
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public ConvexShape getChildShape() {
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return childConvexShape;
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}
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@Override
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public Vector3f localGetSupportingVertex(Vector3f vec, Vector3f out) {
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childConvexShape.localGetSupportingVertex(vec, out);
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out.scale(uniformScalingFactor);
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return out;
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}
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@Override
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public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out) {
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childConvexShape.localGetSupportingVertexWithoutMargin(vec, out);
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out.scale(uniformScalingFactor);
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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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childConvexShape.batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
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for (int i=0; i<numVectors; i++) {
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supportVerticesOut[i].scale(uniformScalingFactor);
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}
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}
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@Override
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public void getAabbSlow(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
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childConvexShape.getAabbSlow(t, aabbMin, aabbMax);
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Vector3f aabbCenter = Stack.alloc(Vector3f.class);
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aabbCenter.add(aabbMax, aabbMin);
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aabbCenter.scale(0.5f);
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Vector3f scaledAabbHalfExtends = Stack.alloc(Vector3f.class);
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scaledAabbHalfExtends.sub(aabbMax, aabbMin);
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scaledAabbHalfExtends.scale(0.5f * uniformScalingFactor);
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aabbMin.sub(aabbCenter, scaledAabbHalfExtends);
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aabbMax.add(aabbCenter, scaledAabbHalfExtends);
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}
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@Override
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public void setLocalScaling(Vector3f scaling) {
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childConvexShape.setLocalScaling(scaling);
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}
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@Override
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public Vector3f getLocalScaling(Vector3f out) {
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childConvexShape.getLocalScaling(out);
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return out;
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}
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@Override
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public void setMargin(float margin) {
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childConvexShape.setMargin(margin);
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}
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@Override
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public float getMargin() {
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return childConvexShape.getMargin() * uniformScalingFactor;
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}
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@Override
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public int getNumPreferredPenetrationDirections() {
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return childConvexShape.getNumPreferredPenetrationDirections();
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}
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@Override
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public void getPreferredPenetrationDirection(int index, Vector3f penetrationVector) {
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childConvexShape.getPreferredPenetrationDirection(index, penetrationVector);
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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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childConvexShape.getAabb(t, aabbMin, aabbMax);
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Vector3f aabbCenter = Stack.alloc(Vector3f.class);
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aabbCenter.add(aabbMax, aabbMin);
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aabbCenter.scale(0.5f);
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Vector3f scaledAabbHalfExtends = Stack.alloc(Vector3f.class);
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scaledAabbHalfExtends.sub(aabbMax, aabbMin);
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scaledAabbHalfExtends.scale(0.5f * uniformScalingFactor);
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aabbMin.sub(aabbCenter, scaledAabbHalfExtends);
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aabbMax.add(aabbCenter, scaledAabbHalfExtends);
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}
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@Override
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public BroadphaseNativeType getShapeType() {
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return BroadphaseNativeType.UNIFORM_SCALING_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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// this linear upscaling is not realistic, but we don't deal with large mass ratios...
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childConvexShape.calculateLocalInertia(mass, inertia);
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inertia.scale(uniformScalingFactor);
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}
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@Override
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public String getName() {
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return "UniformScalingShape";
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}
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}
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