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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp | 203 |
1 files changed, 0 insertions, 203 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp deleted file mode 100644 index 292ef8c1ff..0000000000 --- a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.cpp +++ /dev/null @@ -1,203 +0,0 @@ -/*! \file btGImpactTriangleShape.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 "btTriangleShapeEx.h" - -void GIM_TRIANGLE_CONTACT::merge_points(const btVector4& plane, - btScalar margin, const btVector3* points, int point_count) -{ - m_point_count = 0; - m_penetration_depth = -1000.0f; - - int point_indices[MAX_TRI_CLIPPING]; - - int _k; - - for (_k = 0; _k < point_count; _k++) - { - btScalar _dist = -bt_distance_point_plane(plane, points[_k]) + margin; - - if (_dist >= 0.0f) - { - if (_dist > m_penetration_depth) - { - m_penetration_depth = _dist; - point_indices[0] = _k; - m_point_count = 1; - } - else if ((_dist + SIMD_EPSILON) >= m_penetration_depth) - { - point_indices[m_point_count] = _k; - m_point_count++; - } - } - } - - for (_k = 0; _k < m_point_count; _k++) - { - m_points[_k] = points[point_indices[_k]]; - } -} - -///class btPrimitiveTriangle -bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other) -{ - btScalar total_margin = m_margin + other.m_margin; - // classify points on other triangle - btScalar dis0 = bt_distance_point_plane(m_plane, other.m_vertices[0]) - total_margin; - - btScalar dis1 = bt_distance_point_plane(m_plane, other.m_vertices[1]) - total_margin; - - btScalar dis2 = bt_distance_point_plane(m_plane, other.m_vertices[2]) - total_margin; - - if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false; - - // classify points on this triangle - dis0 = bt_distance_point_plane(other.m_plane, m_vertices[0]) - total_margin; - - dis1 = bt_distance_point_plane(other.m_plane, m_vertices[1]) - total_margin; - - dis2 = bt_distance_point_plane(other.m_plane, m_vertices[2]) - total_margin; - - if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false; - - return true; -} - -int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points) -{ - // edge 0 - - btVector3 temp_points[MAX_TRI_CLIPPING]; - - btVector4 edgeplane; - - get_edge_plane(0, edgeplane); - - int clipped_count = bt_plane_clip_triangle( - edgeplane, other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], temp_points); - - if (clipped_count == 0) return 0; - - btVector3 temp_points1[MAX_TRI_CLIPPING]; - - // edge 1 - get_edge_plane(1, edgeplane); - - clipped_count = bt_plane_clip_polygon(edgeplane, temp_points, clipped_count, temp_points1); - - if (clipped_count == 0) return 0; - - // edge 2 - get_edge_plane(2, edgeplane); - - clipped_count = bt_plane_clip_polygon( - edgeplane, temp_points1, clipped_count, clipped_points); - - return clipped_count; -} - -bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle& other, GIM_TRIANGLE_CONTACT& contacts) -{ - btScalar margin = m_margin + other.m_margin; - - btVector3 clipped_points[MAX_TRI_CLIPPING]; - int clipped_count; - //create planes - // plane v vs U points - - GIM_TRIANGLE_CONTACT contacts1; - - contacts1.m_separating_normal = m_plane; - - clipped_count = clip_triangle(other, clipped_points); - - if (clipped_count == 0) - { - return false; //Reject - } - - //find most deep interval face1 - contacts1.merge_points(contacts1.m_separating_normal, margin, clipped_points, clipped_count); - if (contacts1.m_point_count == 0) return false; // too far - //Normal pointing to this triangle - contacts1.m_separating_normal *= -1.f; - - //Clip tri1 by tri2 edges - GIM_TRIANGLE_CONTACT contacts2; - contacts2.m_separating_normal = other.m_plane; - - clipped_count = other.clip_triangle(*this, clipped_points); - - if (clipped_count == 0) - { - return false; //Reject - } - - //find most deep interval face1 - contacts2.merge_points(contacts2.m_separating_normal, margin, clipped_points, clipped_count); - if (contacts2.m_point_count == 0) return false; // too far - - ////check most dir for contacts - if (contacts2.m_penetration_depth < contacts1.m_penetration_depth) - { - contacts.copy_from(contacts2); - } - else - { - contacts.copy_from(contacts1); - } - return true; -} - -///class btTriangleShapeEx: public btTriangleShape - -bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other) -{ - btScalar total_margin = getMargin() + other.getMargin(); - - btVector4 plane0; - buildTriPlane(plane0); - btVector4 plane1; - other.buildTriPlane(plane1); - - // classify points on other triangle - btScalar dis0 = bt_distance_point_plane(plane0, other.m_vertices1[0]) - total_margin; - - btScalar dis1 = bt_distance_point_plane(plane0, other.m_vertices1[1]) - total_margin; - - btScalar dis2 = bt_distance_point_plane(plane0, other.m_vertices1[2]) - total_margin; - - if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false; - - // classify points on this triangle - dis0 = bt_distance_point_plane(plane1, m_vertices1[0]) - total_margin; - - dis1 = bt_distance_point_plane(plane1, m_vertices1[1]) - total_margin; - - dis2 = bt_distance_point_plane(plane1, m_vertices1[2]) - total_margin; - - if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false; - - return true; -} |