diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h | 198 |
1 files changed, 0 insertions, 198 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h b/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h deleted file mode 100644 index 6a1ee6dcf9..0000000000 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGeometryOperations.h +++ /dev/null @@ -1,198 +0,0 @@ -#ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED -#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED - -/*! \file btGeometryOperations.h -*\author Francisco Leon Najera - -*/ -/* -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. -*/ - -#include "btBoxCollision.h" - -#define PLANEDIREPSILON 0.0000001f -#define PARALELENORMALS 0.000001f - -#define BT_CLAMP(number, minval, maxval) (number < minval ? minval : (number > maxval ? maxval : number)) - -/// Calc a plane from a triangle edge an a normal. plane is a vec4f -SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 &e1, const btVector3 &e2, const btVector3 &normal, btVector4 &plane) -{ - btVector3 planenormal = (e2 - e1).cross(normal); - planenormal.normalize(); - plane.setValue(planenormal[0], planenormal[1], planenormal[2], e2.dot(planenormal)); -} - -//***************** SEGMENT and LINE FUNCTIONS **********************************/// - -/*! Finds the closest point(cp) to (v) on a segment (e1,e2) - */ -SIMD_FORCE_INLINE void bt_closest_point_on_segment( - btVector3 &cp, const btVector3 &v, - const btVector3 &e1, const btVector3 &e2) -{ - btVector3 n = e2 - e1; - cp = v - e1; - btScalar _scalar = cp.dot(n) / n.dot(n); - if (_scalar < 0.0f) - { - cp = e1; - } - else if (_scalar > 1.0f) - { - cp = e2; - } - else - { - cp = _scalar * n + e1; - } -} - -//! line plane collision -/*! -*\return - -0 if the ray never intersects - -1 if the ray collides in front - -2 if the ray collides in back -*/ - -SIMD_FORCE_INLINE int bt_line_plane_collision( - const btVector4 &plane, - const btVector3 &vDir, - const btVector3 &vPoint, - btVector3 &pout, - btScalar &tparam, - btScalar tmin, btScalar tmax) -{ - btScalar _dotdir = vDir.dot(plane); - - if (btFabs(_dotdir) < PLANEDIREPSILON) - { - tparam = tmax; - return 0; - } - - btScalar _dis = bt_distance_point_plane(plane, vPoint); - char returnvalue = _dis < 0.0f ? 2 : 1; - tparam = -_dis / _dotdir; - - if (tparam < tmin) - { - returnvalue = 0; - tparam = tmin; - } - else if (tparam > tmax) - { - returnvalue = 0; - tparam = tmax; - } - pout = tparam * vDir + vPoint; - return returnvalue; -} - -//! Find closest points on segments -SIMD_FORCE_INLINE void bt_segment_collision( - const btVector3 &vA1, - const btVector3 &vA2, - const btVector3 &vB1, - const btVector3 &vB2, - btVector3 &vPointA, - btVector3 &vPointB) -{ - btVector3 AD = vA2 - vA1; - btVector3 BD = vB2 - vB1; - btVector3 N = AD.cross(BD); - btScalar tp = N.length2(); - - btVector4 _M; //plane - - if (tp < SIMD_EPSILON) //ARE PARALELE - { - //project B over A - bool invert_b_order = false; - _M[0] = vB1.dot(AD); - _M[1] = vB2.dot(AD); - - if (_M[0] > _M[1]) - { - invert_b_order = true; - BT_SWAP_NUMBERS(_M[0], _M[1]); - } - _M[2] = vA1.dot(AD); - _M[3] = vA2.dot(AD); - //mid points - N[0] = (_M[0] + _M[1]) * 0.5f; - N[1] = (_M[2] + _M[3]) * 0.5f; - - if (N[0] < N[1]) - { - if (_M[1] < _M[2]) - { - vPointB = invert_b_order ? vB1 : vB2; - vPointA = vA1; - } - else if (_M[1] < _M[3]) - { - vPointB = invert_b_order ? vB1 : vB2; - bt_closest_point_on_segment(vPointA, vPointB, vA1, vA2); - } - else - { - vPointA = vA2; - bt_closest_point_on_segment(vPointB, vPointA, vB1, vB2); - } - } - else - { - if (_M[3] < _M[0]) - { - vPointB = invert_b_order ? vB2 : vB1; - vPointA = vA2; - } - else if (_M[3] < _M[1]) - { - vPointA = vA2; - bt_closest_point_on_segment(vPointB, vPointA, vB1, vB2); - } - else - { - vPointB = invert_b_order ? vB1 : vB2; - bt_closest_point_on_segment(vPointA, vPointB, vA1, vA2); - } - } - return; - } - - N = N.cross(BD); - _M.setValue(N[0], N[1], N[2], vB1.dot(N)); - - // get point A as the plane collision point - bt_line_plane_collision(_M, AD, vA1, vPointA, tp, btScalar(0), btScalar(1)); - - /*Closest point on segment*/ - vPointB = vPointA - vB1; - tp = vPointB.dot(BD); - tp /= BD.dot(BD); - tp = BT_CLAMP(tp, 0.0f, 1.0f); - - vPointB = tp * BD + vB1; -} - -#endif // GIM_VECTOR_H_INCLUDED |