/*
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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 javax.vecmath.Vector3f;
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/**
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* BU_Simplex1to4 implements feature based and implicit simplex of up to 4 vertices
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* (tetrahedron, triangle, line, vertex).
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*
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* @author jezek2
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*/
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public class BU_Simplex1to4 extends PolyhedralConvexShape {
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protected int numVertices = 0;
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protected Vector3f[] vertices = new Vector3f[4];
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public BU_Simplex1to4() {
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}
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public BU_Simplex1to4(Vector3f pt0) {
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addVertex(pt0);
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}
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public BU_Simplex1to4(Vector3f pt0, Vector3f pt1) {
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addVertex(pt0);
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addVertex(pt1);
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}
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public BU_Simplex1to4(Vector3f pt0, Vector3f pt1, Vector3f pt2) {
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addVertex(pt0);
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addVertex(pt1);
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addVertex(pt2);
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}
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public BU_Simplex1to4(Vector3f pt0, Vector3f pt1, Vector3f pt2, Vector3f pt3) {
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addVertex(pt0);
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addVertex(pt1);
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addVertex(pt2);
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addVertex(pt3);
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}
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public void reset() {
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numVertices = 0;
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}
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@Override
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public BroadphaseNativeType getShapeType() {
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return BroadphaseNativeType.TETRAHEDRAL_SHAPE_PROXYTYPE;
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}
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public void addVertex(Vector3f pt) {
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if (vertices[numVertices] == null) {
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vertices[numVertices] = new Vector3f();
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}
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vertices[numVertices++] = pt;
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recalcLocalAabb();
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}
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@Override
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public int getNumVertices() {
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return numVertices;
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}
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@Override
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public int getNumEdges() {
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// euler formula, F-E+V = 2, so E = F+V-2
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switch (numVertices) {
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case 0: return 0;
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case 1: return 0;
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case 2: return 1;
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case 3: return 3;
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case 4: return 6;
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}
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return 0;
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}
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@Override
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public void getEdge(int i, Vector3f pa, Vector3f pb) {
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switch (numVertices) {
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case 2:
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pa.set(vertices[0]);
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pb.set(vertices[1]);
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break;
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case 3:
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switch (i) {
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case 0:
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pa.set(vertices[0]);
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pb.set(vertices[1]);
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break;
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case 1:
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pa.set(vertices[1]);
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pb.set(vertices[2]);
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break;
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case 2:
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pa.set(vertices[2]);
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pb.set(vertices[0]);
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break;
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}
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break;
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case 4:
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switch (i) {
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case 0:
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pa.set(vertices[0]);
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pb.set(vertices[1]);
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break;
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case 1:
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pa.set(vertices[1]);
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pb.set(vertices[2]);
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break;
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case 2:
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pa.set(vertices[2]);
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pb.set(vertices[0]);
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break;
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case 3:
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pa.set(vertices[0]);
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pb.set(vertices[3]);
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break;
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case 4:
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pa.set(vertices[1]);
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pb.set(vertices[3]);
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break;
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case 5:
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pa.set(vertices[2]);
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pb.set(vertices[3]);
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break;
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}
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}
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}
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@Override
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public void getVertex(int i, Vector3f vtx) {
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vtx.set(vertices[i]);
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}
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@Override
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public int getNumPlanes() {
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switch (numVertices) {
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case 0: return 0;
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case 1: return 0;
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case 2: return 0;
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case 3: return 2;
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case 4: return 4;
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}
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return 0;
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}
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@Override
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public void getPlane(Vector3f planeNormal, Vector3f planeSupport, int i) {
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}
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public int getIndex(int i) {
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return 0;
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}
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@Override
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public boolean isInside(Vector3f pt, float tolerance) {
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return false;
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}
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@Override
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public String getName() {
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return "BU_Simplex1to4";
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}
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}
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