void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
lockChildShapes();
btAABB box;
box.m_min = aabbMin;
box.m_max = aabbMax;
btAlignedObjectArray<int> collided;
m_box_set.boxQuery(box,collided);
if(collided.size()==0)
{
unlockChildShapes();
return;
}
int part = (int)getPart();
btPrimitiveTriangle triangle;
int i = collided.size();
while(i--)
{
this->getPrimitiveTriangle(collided[i],triangle);
callback->processTriangle(triangle.m_vertices,part,collided[i]);
}
unlockChildShapes();
}
void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const
{
lockChildShapes();
btAlignedObjectArray<int> collided;
btVector3 rayDir(rayTo - rayFrom);
rayDir.normalize();
m_box_set.rayQuery(rayDir, rayFrom, collided);
if(collided.size()==0)
{
unlockChildShapes();
return;
}
int part = (int)getPart();
btPrimitiveTriangle triangle;
int i = collided.size();
while(i--)
{
getPrimitiveTriangle(collided[i],triangle);
callback->processTriangle(triangle.m_vertices,part,collided[i]);
}
unlockChildShapes();
}
void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
lockChildShapes();
#ifdef CALC_EXACT_INERTIA
inertia.setValue(0.f,0.f,0.f);
int i = this->getNumChildShapes();
btScalar shapemass = mass/btScalar(i);
while(i--)
{
btVector3 temp_inertia;
m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia);
if(childrenHasTransform())
{
inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]);
}
else
{
inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity());
}
}
#else
// Calc box inertia
btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
#endif
unlockChildShapes();
}
void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
lockChildShapes();
#ifdef CALC_EXACT_INERTIA
inertia.setValue(0.f,0.f,0.f);
int i = this->getVertexCount();
btScalar pointmass = mass/btScalar(i);
while(i--)
{
btVector3 pointintertia;
this->getVertex(i,pointintertia);
pointintertia = gim_get_point_inertia(pointintertia,pointmass);
inertia+=pointintertia;
}
#else
// Calc box inertia
btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
#endif
unlockChildShapes();
}