| /*! \file btGImpactShape.h |
| \author Francisco Len Nßjera |
| */ |
| /* |
| This source file is part of GIMPACT Library. |
| |
| For the latest info, see http://gimpact.sourceforge.net/ |
| |
| Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. |
| email: projectileman@yahoo.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. |
| */ |
| |
| |
| #ifndef TRIANGLE_SHAPE_EX_H |
| #define TRIANGLE_SHAPE_EX_H |
| |
| #include "BulletCollision/CollisionShapes/btCollisionShape.h" |
| #include "BulletCollision/CollisionShapes/btTriangleShape.h" |
| #include "btBoxCollision.h" |
| #include "btClipPolygon.h" |
| #include "btGeometryOperations.h" |
| |
| |
| #define MAX_TRI_CLIPPING 16 |
| |
| //! Structure for collision |
| struct GIM_TRIANGLE_CONTACT |
| { |
| btScalar m_penetration_depth; |
| int m_point_count; |
| btVector4 m_separating_normal; |
| btVector3 m_points[MAX_TRI_CLIPPING]; |
| |
| SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other) |
| { |
| m_penetration_depth = other.m_penetration_depth; |
| m_separating_normal = other.m_separating_normal; |
| m_point_count = other.m_point_count; |
| int i = m_point_count; |
| while(i--) |
| { |
| m_points[i] = other.m_points[i]; |
| } |
| } |
| |
| GIM_TRIANGLE_CONTACT() |
| { |
| } |
| |
| GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other) |
| { |
| copy_from(other); |
| } |
| |
| //! classify points that are closer |
| void merge_points(const btVector4 & plane, |
| btScalar margin, const btVector3 * points, int point_count); |
| |
| }; |
| |
| |
| |
| class btPrimitiveTriangle |
| { |
| public: |
| btVector3 m_vertices[3]; |
| btVector4 m_plane; |
| btScalar m_margin; |
| btScalar m_dummy; |
| btPrimitiveTriangle():m_margin(0.01f) |
| { |
| |
| } |
| |
| |
| SIMD_FORCE_INLINE void buildTriPlane() |
| { |
| btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]); |
| normal.normalize(); |
| m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal)); |
| } |
| |
| //! Test if triangles could collide |
| bool overlap_test_conservative(const btPrimitiveTriangle& other); |
| |
| //! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane |
| /*! |
| \pre this triangle must have its plane calculated. |
| */ |
| SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane) const |
| { |
| const btVector3 & e0 = m_vertices[edge_index]; |
| const btVector3 & e1 = m_vertices[(edge_index+1)%3]; |
| bt_edge_plane(e0,e1,m_plane,plane); |
| } |
| |
| void applyTransform(const btTransform& t) |
| { |
| m_vertices[0] = t(m_vertices[0]); |
| m_vertices[1] = t(m_vertices[1]); |
| m_vertices[2] = t(m_vertices[2]); |
| } |
| |
| //! Clips the triangle against this |
| /*! |
| \pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated. |
| \return the number of clipped points |
| */ |
| int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points ); |
| |
| //! Find collision using the clipping method |
| /*! |
| \pre this triangle and other must have their triangles calculated |
| */ |
| bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts); |
| }; |
| |
| |
| |
| //! Helper class for colliding Bullet Triangle Shapes |
| /*! |
| This class implements a better getAabb method than the previous btTriangleShape class |
| */ |
| class btTriangleShapeEx: public btTriangleShape |
| { |
| public: |
| |
| btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0)) |
| { |
| } |
| |
| btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2): btTriangleShape(p0,p1,p2) |
| { |
| } |
| |
| btTriangleShapeEx(const btTriangleShapeEx & other): btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2]) |
| { |
| } |
| |
| virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const |
| { |
| btVector3 tv0 = t(m_vertices1[0]); |
| btVector3 tv1 = t(m_vertices1[1]); |
| btVector3 tv2 = t(m_vertices1[2]); |
| |
| btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin); |
| aabbMin = trianglebox.m_min; |
| aabbMax = trianglebox.m_max; |
| } |
| |
| void applyTransform(const btTransform& t) |
| { |
| m_vertices1[0] = t(m_vertices1[0]); |
| m_vertices1[1] = t(m_vertices1[1]); |
| m_vertices1[2] = t(m_vertices1[2]); |
| } |
| |
| SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const |
| { |
| btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]); |
| normal.normalize(); |
| plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal)); |
| } |
| |
| bool overlap_test_conservative(const btTriangleShapeEx& other); |
| }; |
| |
| |
| #endif //TRIANGLE_MESH_SHAPE_H |