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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h | 180 |
1 files changed, 180 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h new file mode 100644 index 0000000000..973c2ed127 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h @@ -0,0 +1,180 @@ +/*! \file btGImpactShape.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. +*/ + + +#ifndef GIMPACT_TRIANGLE_SHAPE_EX_H +#define GIMPACT_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 //GIMPACT_TRIANGLE_MESH_SHAPE_H |