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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h')
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diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h new file mode 100644 index 0000000000..267f806e7e --- /dev/null +++ b/thirdparty/bullet/BulletCollision/Gimpact/gim_tri_collision.h @@ -0,0 +1,380 @@ +#ifndef GIM_TRI_COLLISION_H_INCLUDED +#define GIM_TRI_COLLISION_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_box_collision.h" +#include "gim_clip_polygon.h" + + + +#ifndef MAX_TRI_CLIPPING +#define MAX_TRI_CLIPPING 16 +#endif + +//! Structure for collision +struct GIM_TRIANGLE_CONTACT_DATA +{ + GREAL m_penetration_depth; + GUINT m_point_count; + btVector4 m_separating_normal; + btVector3 m_points[MAX_TRI_CLIPPING]; + + SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other) + { + m_penetration_depth = other.m_penetration_depth; + m_separating_normal = other.m_separating_normal; + m_point_count = other.m_point_count; + GUINT i = m_point_count; + while(i--) + { + m_points[i] = other.m_points[i]; + } + } + + GIM_TRIANGLE_CONTACT_DATA() + { + } + + GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other) + { + copy_from(other); + } + + + + + //! classify points that are closer + template<typename DISTANCE_FUNC,typename CLASS_PLANE> + SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane, + GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func) + { + m_point_count = 0; + m_penetration_depth= -1000.0f; + + GUINT point_indices[MAX_TRI_CLIPPING]; + + GUINT _k; + + for(_k=0;_k<point_count;_k++) + { + GREAL _dist = -distance_func(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+G_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]]; + } + } + + //! classify points that are closer + SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin, + const btVector3 * points, GUINT point_count) + { + m_separating_normal = plane; + mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC()); + } +}; + + +//! Class for colliding triangles +class GIM_TRIANGLE +{ +public: + btScalar m_margin; + btVector3 m_vertices[3]; + + GIM_TRIANGLE():m_margin(0.1f) + { + } + + SIMD_FORCE_INLINE GIM_AABB get_box() const + { + return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin); + } + + SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const + { + TRIANGLE_NORMAL(m_vertices[0],m_vertices[1],m_vertices[2],normal); + } + + SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const + { + TRIANGLE_PLANE(m_vertices[0],m_vertices[1],m_vertices[2],plane);; + } + + SIMD_FORCE_INLINE void apply_transform(const btTransform & trans) + { + m_vertices[0] = trans(m_vertices[0]); + m_vertices[1] = trans(m_vertices[1]); + m_vertices[2] = trans(m_vertices[2]); + } + + SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane) const + { + const btVector3 & e0 = m_vertices[edge_index]; + const btVector3 & e1 = m_vertices[(edge_index+1)%3]; + EDGE_PLANE(e0,e1,triangle_normal,plane); + } + + //! Gets the relative transformation of this triangle + /*! + The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0: + - triangle normal corresponds to Z axis. + - 1st normalized edge corresponds to X axis, + + */ + SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform) const + { + btMatrix3x3 & matrix = triangle_transform.getBasis(); + + btVector3 zaxis; + get_normal(zaxis); + MAT_SET_Z(matrix,zaxis); + + btVector3 xaxis = m_vertices[1] - m_vertices[0]; + VEC_NORMALIZE(xaxis); + MAT_SET_X(matrix,xaxis); + + //y axis + xaxis = zaxis.cross(xaxis); + MAT_SET_Y(matrix,xaxis); + + triangle_transform.setOrigin(m_vertices[0]); + } + + + //! Test triangles by finding separating axis + /*! + \param other Triangle for collide + \param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle + */ + bool collide_triangle_hard_test( + const GIM_TRIANGLE & other, + GIM_TRIANGLE_CONTACT_DATA & contact_data) const; + + //! Test boxes before doing hard test + /*! + \param other Triangle for collide + \param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle + \ + */ + SIMD_FORCE_INLINE bool collide_triangle( + const GIM_TRIANGLE & other, + GIM_TRIANGLE_CONTACT_DATA & contact_data) const + { + //test box collisioin + GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin); + GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin); + if(!boxu.has_collision(boxv)) return false; + + //do hard test + return collide_triangle_hard_test(other,contact_data); + } + + /*! + + Solve the System for u,v parameters: + + u*axe1[i1] + v*axe2[i1] = vecproj[i1] + u*axe1[i2] + v*axe2[i2] = vecproj[i2] + + sustitute: + v = (vecproj[i2] - u*axe1[i2])/axe2[i2] + + then the first equation in terms of 'u': + + --> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] + + --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] + + --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] + + --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] + + --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] + + --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) + +if 0.0<= u+v <=1.0 then they are inside of triangle + + \return false if the point is outside of triangle.This function doesn't take the margin + */ + SIMD_FORCE_INLINE bool get_uv_parameters( + const btVector3 & point, + const btVector3 & tri_plane, + GREAL & u, GREAL & v) const + { + btVector3 _axe1 = m_vertices[1]-m_vertices[0]; + btVector3 _axe2 = m_vertices[2]-m_vertices[0]; + btVector3 _vecproj = point - m_vertices[0]; + GUINT _i1 = (tri_plane.closestAxis()+1)%3; + GUINT _i2 = (_i1+1)%3; + if(btFabs(_axe2[_i2])<G_EPSILON) + { + u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1] - _axe1[_i1]*_axe2[_i2]); + v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1]; + } + else + { + u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2] - _axe1[_i2]*_axe2[_i1]); + v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2]; + } + + if(u<-G_EPSILON) + { + return false; + } + else if(v<-G_EPSILON) + { + return false; + } + else + { + btScalar sumuv; + sumuv = u+v; + if(sumuv<-G_EPSILON) + { + return false; + } + else if(sumuv-1.0f>G_EPSILON) + { + return false; + } + } + return true; + } + + //! is point in triangle beam? + /*! + Test if point is in triangle, with m_margin tolerance + */ + SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const + { + //Test with edge 0 + btVector4 edge_plane; + this->get_edge_plane(0,tri_normal,edge_plane); + GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(1,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(2,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + return true; + } + + + //! Bidireccional ray collision + SIMD_FORCE_INLINE bool ray_collision( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res == 0) return false; + if(! is_point_inside(pout,faceplane)) return false; + + if(res==2) //invert normal + { + triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]); + } + else + { + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + } + + VEC_NORMALIZE(triangle_normal); + + return true; + } + + + //! one direccion ray collision + SIMD_FORCE_INLINE bool ray_collision_front_side( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res != 1) return false; + + if(!is_point_inside(pout,faceplane)) return false; + + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + + VEC_NORMALIZE(triangle_normal); + + return true; + } + +}; + + + + +#endif // GIM_TRI_COLLISION_H_INCLUDED |