/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.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.collision.narrowphase;
import com.bulletphysics.collision.narrowphase.ConvexCast.CastResult;
import com.bulletphysics.collision.shapes.ConvexShape;
import com.bulletphysics.collision.shapes.TriangleCallback;
import com.bulletphysics.collision.shapes.TriangleShape;
import com.bulletphysics.linearmath.Transform;
import javax.vecmath.Vector3f;
/**
*
* @author jezek2
*/
public abstract class TriangleConvexcastCallback extends TriangleCallback {
public ConvexShape convexShape;
public final Transform convexShapeFrom = new Transform();
public final Transform convexShapeTo = new Transform();
public final Transform triangleToWorld = new Transform();
public float hitFraction;
public float triangleCollisionMargin;
public TriangleConvexcastCallback(ConvexShape convexShape, Transform convexShapeFrom, Transform convexShapeTo, Transform triangleToWorld, float triangleCollisionMargin) {
this.convexShape = convexShape;
this.convexShapeFrom.set(convexShapeFrom);
this.convexShapeTo.set(convexShapeTo);
this.triangleToWorld.set(triangleToWorld);
this.hitFraction = 1f;
this.triangleCollisionMargin = triangleCollisionMargin;
}
public void processTriangle(Vector3f[] triangle, int partId, int triangleIndex) {
TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
triangleShape.setMargin(triangleCollisionMargin);
VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
//#ifdef USE_SUBSIMPLEX_CONVEX_CAST
// TODO: implement ContinuousConvexCollision
SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(convexShape, triangleShape, simplexSolver);
//#else
// //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
//#endif //#USE_SUBSIMPLEX_CONVEX_CAST
CastResult castResult = new CastResult();
castResult.fraction = 1f;
if (convexCaster.calcTimeOfImpact(convexShapeFrom, convexShapeTo, triangleToWorld, triangleToWorld, castResult)) {
// add hit
if (castResult.normal.lengthSquared() > 0.0001f) {
if (castResult.fraction < hitFraction) {
/* btContinuousConvexCast's normal is already in world space */
/*
//#ifdef USE_SUBSIMPLEX_CONVEX_CAST
// rotate normal into worldspace
convexShapeFrom.basis.transform(castResult.normal);
//#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.normal.normalize();
reportHit(castResult.normal,
castResult.hitPoint,
castResult.fraction,
partId,
triangleIndex);
}
}
}
}
public abstract float reportHit(Vector3f hitNormalLocal, Vector3f hitPointLocal, float hitFraction, int partId, int triangleIndex);
}