/*
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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.collision.shapes.TriangleShape;
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import com.bulletphysics.extras.gimpact.BoxCollision.AABB;
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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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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 TriangleShapeEx extends TriangleShape {
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public TriangleShapeEx() {
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super();
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}
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public TriangleShapeEx(Vector3f p0, Vector3f p1, Vector3f p2) {
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super(p0, p1, p2);
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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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Vector3f tv0 = (Vector3f) Stack.alloc(vertices1[0]);
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t.transform(tv0);
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Vector3f tv1 = (Vector3f) Stack.alloc(vertices1[1]);
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t.transform(tv1);
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Vector3f tv2 = (Vector3f) Stack.alloc(vertices1[2]);
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t.transform(tv2);
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AABB trianglebox = Stack.alloc(AABB.class);
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trianglebox.init(tv0,tv1,tv2,collisionMargin);
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aabbMin.set(trianglebox.min);
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aabbMax.set(trianglebox.max);
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}
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public void applyTransform(Transform t) {
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t.transform(vertices1[0]);
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t.transform(vertices1[1]);
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t.transform(vertices1[2]);
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}
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public void buildTriPlane(Vector4f plane) {
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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 normal = Stack.alloc(Vector3f.class);
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tmp1.sub(vertices1[1], vertices1[0]);
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tmp2.sub(vertices1[2], vertices1[0]);
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normal.cross(tmp1, tmp2);
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normal.normalize();
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plane.set(normal.x, normal.y, normal.z, vertices1[0].dot(normal));
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}
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public boolean overlap_test_conservative(TriangleShapeEx other) {
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float total_margin = getMargin() + other.getMargin();
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Vector4f plane0 = Stack.alloc(Vector4f.class);
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buildTriPlane(plane0);
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Vector4f plane1 = Stack.alloc(Vector4f.class);
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other.buildTriPlane(plane1);
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// classify points on other triangle
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float dis0 = ClipPolygon.distance_point_plane(plane0, other.vertices1[0]) - total_margin;
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float dis1 = ClipPolygon.distance_point_plane(plane0, other.vertices1[1]) - total_margin;
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float dis2 = ClipPolygon.distance_point_plane(plane0, other.vertices1[2]) - total_margin;
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if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) {
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return false; // classify points on this triangle
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}
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dis0 = ClipPolygon.distance_point_plane(plane1, vertices1[0]) - total_margin;
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dis1 = ClipPolygon.distance_point_plane(plane1, vertices1[1]) - total_margin;
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dis2 = ClipPolygon.distance_point_plane(plane1, vertices1[2]) - total_margin;
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if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) {
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return false;
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}
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return true;
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}
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}
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