Bullet Collision Detection & Physics Library
btTriangleShapeEx.cpp
Go to the documentation of this file.
1
4/*
5This source file is part of GIMPACT Library.
6
7For the latest info, see http://gimpact.sourceforge.net/
8
9Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10email: projectileman@yahoo.com
11
12
13This software is provided 'as-is', without any express or implied warranty.
14In no event will the authors be held liable for any damages arising from the use of this software.
15Permission is granted to anyone to use this software for any purpose,
16including commercial applications, and to alter it and redistribute it freely,
17subject to the following restrictions:
18
191. 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.
202. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
213. This notice may not be removed or altered from any source distribution.
22*/
23
24#include "btTriangleShapeEx.h"
25
27 btScalar margin, const btVector3* points, int point_count)
28{
29 m_point_count = 0;
30 m_penetration_depth = -1000.0f;
31
33
34 int _k;
35
36 for (_k = 0; _k < point_count; _k++)
37 {
39
40 if (_dist >= 0.0f)
41 {
43 {
45 point_indices[0] = _k;
46 m_point_count = 1;
47 }
49 {
52 }
53 }
54 }
55
56 for (_k = 0; _k < m_point_count; _k++)
57 {
59 }
60}
61
64{
66 // classify points on other triangle
68
70
72
73 if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
74
75 // classify points on this triangle
77
79
81
82 if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
83
84 return true;
85}
86
88{
89 // edge 0
90
91 btVector3 temp_points[MAX_TRI_CLIPPING];
92
94
96
98 edgeplane, other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], temp_points);
99
100 if (clipped_count == 0) return 0;
101
102 btVector3 temp_points1[MAX_TRI_CLIPPING];
103
104 // edge 1
106
107 clipped_count = bt_plane_clip_polygon(edgeplane, temp_points, clipped_count, temp_points1);
108
109 if (clipped_count == 0) return 0;
110
111 // edge 2
113
115 edgeplane, temp_points1, clipped_count, clipped_points);
116
117 return clipped_count;
118}
119
121{
122 btScalar margin = m_margin + other.m_margin;
123
125 int clipped_count;
126 //create planes
127 // plane v vs U points
128
130
132
134
135 if (clipped_count == 0)
136 {
137 return false; //Reject
138 }
139
140 //find most deep interval face1
141 contacts1.merge_points(contacts1.m_separating_normal, margin, clipped_points, clipped_count);
142 if (contacts1.m_point_count == 0) return false; // too far
143 //Normal pointing to this triangle
144 contacts1.m_separating_normal *= -1.f;
145
146 //Clip tri1 by tri2 edges
149
151
152 if (clipped_count == 0)
153 {
154 return false; //Reject
155 }
156
157 //find most deep interval face1
158 contacts2.merge_points(contacts2.m_separating_normal, margin, clipped_points, clipped_count);
159 if (contacts2.m_point_count == 0) return false; // too far
160
162 if (contacts2.m_penetration_depth < contacts1.m_penetration_depth)
163 {
164 contacts.copy_from(contacts2);
165 }
166 else
167 {
168 contacts.copy_from(contacts1);
169 }
170 return true;
171}
172
174
176{
178
182 other.buildTriPlane(plane1);
183
184 // classify points on other triangle
186
188
190
191 if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
192
193 // classify points on this triangle
195
197
199
200 if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
201
202 return true;
203}
int bt_plane_clip_triangle(const btVector4 &plane, const btVector3 &point0, const btVector3 &point1, const btVector3 &point2, btVector3 *clipped)
Clips a polygon by a plane.
btScalar bt_distance_point_plane(const btVector4 &plane, const btVector3 &point)
int bt_plane_clip_polygon(const btVector4 &plane, const btVector3 *polygon_points, int polygon_point_count, btVector3 *clipped)
Clips a polygon by a plane.
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
#define SIMD_EPSILON
Definition btScalar.h:543
#define MAX_TRI_CLIPPING
virtual btScalar getMargin() const
bool find_triangle_collision_clip_method(btPrimitiveTriangle &other, GIM_TRIANGLE_CONTACT &contacts)
Find collision using the clipping method.
int clip_triangle(btPrimitiveTriangle &other, btVector3 *clipped_points)
Clips the triangle against this.
void get_edge_plane(int edge_index, btVector4 &plane) const
Calcs the plane which is paralele to the edge and perpendicular to the triangle plane.
bool overlap_test_conservative(const btPrimitiveTriangle &other)
Test if triangles could collide.
Helper class for colliding Bullet Triangle Shapes.
bool overlap_test_conservative(const btTriangleShapeEx &other)
class btTriangleShapeEx: public btTriangleShape
void buildTriPlane(btVector4 &plane) const
btVector3 m_vertices1[3]
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
Structure for collision.
btVector3 m_points[MAX_TRI_CLIPPING]
void merge_points(const btVector4 &plane, btScalar margin, const btVector3 *points, int point_count)
classify points that are closer