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