summaryrefslogtreecommitdiff
path: root/thirdparty/bullet/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp')
-rw-r--r--thirdparty/bullet/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp218
1 files changed, 0 insertions, 218 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp b/thirdparty/bullet/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
deleted file mode 100644
index ca76cc54a1..0000000000
--- a/thirdparty/bullet/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
+++ /dev/null
@@ -1,218 +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;
-}
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-29 07:59:44 +0000