Examples with Stack com.bulletphysics.util.Stack used on opensource projects

Example 41 with Stack

use of com.bulletphysics.util.Stack in project bdx by GoranM.

the class CompoundShape method addChildShape.

public void addChildShape(Transform localTransform, CollisionShape shape) {
    //m_childTransforms.push_back(localTransform);
    //m_childShapes.push_back(shape);
    CompoundShapeChild child = new CompoundShapeChild();
    child.transform.set(localTransform);
    child.childShape = shape;
    child.childShapeType = shape.getShapeType();
    child.childMargin = shape.getMargin();
    children.add(child);
    Stack stack = Stack.enter();
    // extend the local aabbMin/aabbMax
    Vector3f _localAabbMin = stack.allocVector3f(), _localAabbMax = stack.allocVector3f();
    shape.getAabb(localTransform, _localAabbMin, _localAabbMax);
    // JAVA NOTE: rewritten
    //		for (int i=0;i<3;i++)
    //		{
    //			if (this.localAabbMin[i] > _localAabbMin[i])
    //			{
    //				this.localAabbMin[i] = _localAabbMin[i];
    //			}
    //			if (this.localAabbMax[i] < _localAabbMax[i])
    //			{
    //				this.localAabbMax[i] = _localAabbMax[i];
    //			}
    //		}
    VectorUtil.setMin(this.localAabbMin, _localAabbMin);
    VectorUtil.setMax(this.localAabbMax, _localAabbMax);
    stack.leave();
}

Example 42 with Stack

use of com.bulletphysics.util.Stack in project bdx by GoranM.

the class ConeShape method localGetSupportingVertex.

@Override
public Vector3f localGetSupportingVertex(Vector3f vec, Vector3f out) {
    Vector3f supVertex = coneLocalSupport(vec, out);
    if (getMargin() != 0f) {
        Stack stack = Stack.enter();
        Vector3f vecnorm = stack.alloc(vec);
        if (vecnorm.lengthSquared() < (BulletGlobals.FLT_EPSILON * BulletGlobals.FLT_EPSILON)) {
            vecnorm.set(-1f, -1f, -1f);
        }
        vecnorm.normalize();
        supVertex.scaleAdd(getMargin(), vecnorm, supVertex);
        stack.leave();
    }
    return supVertex;
}

Example 43 with Stack

use of com.bulletphysics.util.Stack in project bdx by GoranM.

the class ConeShape method calculateLocalInertia.

@Override
public void calculateLocalInertia(float mass, Vector3f inertia) {
    Stack stack = Stack.enter();
    Transform identity = stack.allocTransform();
    identity.setIdentity();
    Vector3f aabbMin = stack.allocVector3f(), aabbMax = stack.allocVector3f();
    getAabb(identity, aabbMin, aabbMax);
    Vector3f halfExtents = stack.allocVector3f();
    halfExtents.sub(aabbMax, aabbMin);
    halfExtents.scale(0.5f);
    float margin = getMargin();
    float lx = 2f * (halfExtents.x + margin);
    float ly = 2f * (halfExtents.y + margin);
    float lz = 2f * (halfExtents.z + margin);
    float x2 = lx * lx;
    float y2 = ly * ly;
    float z2 = lz * lz;
    float scaledmass = mass * 0.08333333f;
    inertia.set(y2 + z2, x2 + z2, x2 + y2);
    inertia.scale(scaledmass);
    //inertia.x() = scaledmass * (y2+z2);
    //inertia.y() = scaledmass * (x2+z2);
    //inertia.z() = scaledmass * (x2+y2);
    stack.leave();
}

Example 44 with Stack

use of com.bulletphysics.util.Stack in project bdx by GoranM.

the class ConvexHullShape method localGetSupportingVertex.

@Override
public Vector3f localGetSupportingVertex(Vector3f vec, Vector3f out) {
    Vector3f supVertex = localGetSupportingVertexWithoutMargin(vec, out);
    if (getMargin() != 0f) {
        Stack stack = Stack.enter();
        Vector3f vecnorm = stack.alloc(vec);
        if (vecnorm.lengthSquared() < (BulletGlobals.FLT_EPSILON * BulletGlobals.FLT_EPSILON)) {
            vecnorm.set(-1f, -1f, -1f);
        }
        vecnorm.normalize();
        supVertex.scaleAdd(getMargin(), vecnorm, supVertex);
        stack.leave();
    }
    return out;
}

Example 45 with Stack

use of com.bulletphysics.util.Stack in project bdx by GoranM.

the class ConvexHullShape method localGetSupportingVertexWithoutMargin.

@Override
public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec0, Vector3f out) {
    Vector3f supVec = out;
    supVec.set(0f, 0f, 0f);
    float newDot, maxDot = -1e30f;
    Stack stack = Stack.enter();
    Vector3f vec = stack.alloc(vec0);
    float lenSqr = vec.lengthSquared();
    if (lenSqr < 0.0001f) {
        vec.set(1f, 0f, 0f);
    } else {
        float rlen = 1f / (float) Math.sqrt(lenSqr);
        vec.scale(rlen);
    }
    Vector3f vtx = stack.allocVector3f();
    for (int i = 0; i < points.size(); i++) {
        VectorUtil.mul(vtx, points.getQuick(i), localScaling);
        newDot = vec.dot(vtx);
        if (newDot > maxDot) {
            maxDot = newDot;
            supVec.set(vtx);
        }
    }
    stack.leave();
    return out;
}