/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* This source file is part of GIMPACT Library.
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*
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* For the latest info, see http://gimpact.sourceforge.net/
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*
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* Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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* email: projectileman@yahoo.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.extras.gimpact;
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import com.bulletphysics.BulletGlobals;
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import com.bulletphysics.util.ArrayPool;
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import com.bulletphysics.util.ObjectArrayList;
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import javax.vecmath.Vector3f;
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import javax.vecmath.Vector4f;
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/**
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*
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* @author jezek2
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*/
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public class TriangleContact {
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private final ArrayPool<int[]> intArrays = ArrayPool.get(int.class);
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public static final int MAX_TRI_CLIPPING = 16;
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public float penetration_depth;
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public int point_count;
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public final Vector4f separating_normal = new Vector4f();
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public Vector3f[] points = new Vector3f[MAX_TRI_CLIPPING];
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public TriangleContact() {
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for (int i=0; i<points.length; i++) {
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points[i] = new Vector3f();
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}
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}
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public TriangleContact(TriangleContact other) {
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copy_from(other);
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}
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public void set(TriangleContact other) {
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copy_from(other);
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}
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public void copy_from(TriangleContact other) {
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penetration_depth = other.penetration_depth;
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separating_normal.set(other.separating_normal);
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point_count = other.point_count;
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int i = point_count;
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while ((i--) != 0) {
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points[i].set(other.points[i]);
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}
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}
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/**
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* Classify points that are closer.
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*/
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public void merge_points(Vector4f plane, float margin, ObjectArrayList<Vector3f> points, int point_count) {
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this.point_count = 0;
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penetration_depth = -1000.0f;
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int[] point_indices = intArrays.getFixed(MAX_TRI_CLIPPING);
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for (int _k = 0; _k < point_count; _k++) {
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float _dist = -ClipPolygon.distance_point_plane(plane, points.getQuick(_k)) + margin;
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if (_dist >= 0.0f) {
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if (_dist > penetration_depth) {
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penetration_depth = _dist;
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point_indices[0] = _k;
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this.point_count = 1;
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}
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else if ((_dist + BulletGlobals.SIMD_EPSILON) >= penetration_depth) {
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point_indices[this.point_count] = _k;
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this.point_count++;
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}
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}
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}
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for (int _k = 0; _k < this.point_count; _k++) {
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this.points[_k].set(points.getQuick(point_indices[_k]));
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}
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intArrays.release(point_indices);
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}
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}
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