52 for (
int i = 0; i < 3; i++)
58 m_supportVertexLocal = triangle[i];
65 return m_supportVertexLocal;
77 vec.setValue(1, 0, 0);
87 m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
88 supVec = supportCallback.GetSupportVertexLocal();
97 for (
int i = 0; i < numVectors; i++)
105 for (
int j = 0; j < numVectors; j++)
110 m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
111 supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
174 m_stridingMesh->setScaling(scaling);
181 return m_stridingMesh->getScaling();
194 CenterCallback() : first(
true), ref(0, 0, 0),
sum(0, 0, 0), volume(0)
210 sum += (
btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
217 return (volume > 0) ?
sum / volume : ref;
245 for (
int j = 0; j < 3; j++)
247 for (
int k = 0; k <= j; k++)
249 i[j][k] = i[k][j] = volNeg * (
btScalar(0.1) * (
a[j] *
a[k] +
b[j] *
b[k] +
c[j] *
c[k]) +
btScalar(0.05) * (
a[j] *
b[k] +
a[k] *
b[j] +
a[j] *
c[k] +
a[k] *
c[j] +
b[j] *
c[k] +
b[k] *
c[j]));
269 CenterCallback centerCallback;
271 m_stridingMesh->InternalProcessAllTriangles(¢erCallback, -aabbMax, aabbMax);
273 principal.setOrigin(
center);
274 volume = centerCallback.getVolume();
276 InertiaCallback inertiaCallback(
center);
277 m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
280 i.diagonalize(principal.getBasis(),
btScalar(0.00001), 20);
281 inertia.setValue(i[0][0], i[1][1], i[2][2]);
NSNotificationCenter * center
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
virtual int getNumVertices() const
virtual void getVertex(int i, btVector3 &vtx) const
virtual int getNumPlanes() const
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual int getNumEdges() const
@ CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE
virtual const btVector3 & getLocalScaling() const =0
virtual btScalar getMargin() const =0
void calculatePrincipalAxisTransform(const btScalar *masses, btTransform &principal, btVector3 &inertia) const
btConvexTriangleMeshShape(btStridingMeshInterface *meshInterface, bool calcAabb=true)
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
SIMD_FORCE_INLINE btScalar btFabs(btScalar x)
SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
static T sum(const btAlignedObjectArray< T > &items)
SIMD_FORCE_INLINE btScalar triple(const btVector3 &v1, const btVector3 &v2) const
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
btVector3 GetSupportVertexLocal()
btVector3 m_supportVecLocal
LocalSupportVertexCallback(const btVector3 &supportVecLocal)
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)=0
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
SyclQueue void void size_t num_bytes void
T dot(const vec_base< T, Size > &a, const vec_base< T, Size > &b)
static const pxr::TfToken b("b", pxr::TfToken::Immortal)