/*
|
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
|
*
|
* This source file is part of GIMPACT Library.
|
*
|
* For the latest info, see http://gimpact.sourceforge.net/
|
*
|
* Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
|
* email: projectileman@yahoo.com
|
*
|
* This software is provided 'as-is', without any express or implied warranty.
|
* In no event will the authors be held liable for any damages arising from
|
* the use of this software.
|
*
|
* Permission is granted to anyone to use this software for any purpose,
|
* including commercial applications, and to alter it and redistribute it
|
* freely, subject to the following restrictions:
|
*
|
* 1. The origin of this software must not be misrepresented; you must not
|
* claim that you wrote the original software. If you use this software
|
* in a product, an acknowledgment in the product documentation would be
|
* appreciated but is not required.
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
* misrepresented as being the original software.
|
* 3. This notice may not be removed or altered from any source distribution.
|
*/
|
|
package com.bulletphysics.extras.gimpact;
|
|
import com.bulletphysics.collision.shapes.StaticPlaneShape;
|
import com.bulletphysics.linearmath.Transform;
|
import com.bulletphysics.linearmath.VectorUtil;
|
import cz.advel.stack.Stack;
|
import javax.vecmath.Vector3f;
|
import javax.vecmath.Vector4f;
|
|
/**
|
*
|
* @author jezek2
|
*/
|
class PlaneShape {
|
|
public static void get_plane_equation(StaticPlaneShape shape, Vector4f equation) {
|
Vector3f tmp = Stack.alloc(Vector3f.class);
|
equation.set(shape.getPlaneNormal(tmp));
|
equation.w = shape.getPlaneConstant();
|
}
|
|
public static void get_plane_equation_transformed(StaticPlaneShape shape, Transform trans, Vector4f equation) {
|
get_plane_equation(shape, equation);
|
|
Vector3f tmp = Stack.alloc(Vector3f.class);
|
|
trans.basis.getRow(0, tmp);
|
float x = VectorUtil.dot3(tmp, equation);
|
trans.basis.getRow(1, tmp);
|
float y = VectorUtil.dot3(tmp, equation);
|
trans.basis.getRow(2, tmp);
|
float z = VectorUtil.dot3(tmp, equation);
|
|
float w = VectorUtil.dot3(trans.origin, equation) + equation.w;
|
|
equation.set(x, y, z, w);
|
}
|
|
}
|
