| |
| /*! \file gim_tri_collision.h |
| \author Francisco Len Nßjera |
| */ |
| /* |
| ----------------------------------------------------------------------------- |
| 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 "BulletCollision/Gimpact/gim_tri_collision.h" |
| |
| |
| #define TRI_LOCAL_EPSILON 0.000001f |
| #define MIN_EDGE_EDGE_DIS 0.00001f |
| |
| |
| class GIM_TRIANGLE_CALCULATION_CACHE |
| { |
| public: |
| GREAL margin; |
| btVector3 tu_vertices[3]; |
| btVector3 tv_vertices[3]; |
| btVector4 tu_plane; |
| btVector4 tv_plane; |
| btVector3 closest_point_u; |
| btVector3 closest_point_v; |
| btVector3 edge_edge_dir; |
| btVector3 distances; |
| GREAL du[4]; |
| GREAL du0du1; |
| GREAL du0du2; |
| GREAL dv[4]; |
| GREAL dv0dv1; |
| GREAL dv0dv2; |
| btVector3 temp_points[MAX_TRI_CLIPPING]; |
| btVector3 temp_points1[MAX_TRI_CLIPPING]; |
| btVector3 contact_points[MAX_TRI_CLIPPING]; |
| |
| |
| |
| //! if returns false, the faces are paralele |
| SIMD_FORCE_INLINE bool compute_intervals( |
| const GREAL &D0, |
| const GREAL &D1, |
| const GREAL &D2, |
| const GREAL &D0D1, |
| const GREAL &D0D2, |
| GREAL & scale_edge0, |
| GREAL & scale_edge1, |
| GUINT &edge_index0, |
| GUINT &edge_index1) |
| { |
| if(D0D1>0.0f) |
| { |
| /* here we know that D0D2<=0.0 */ |
| /* that is D0, D1 are on the same side, D2 on the other or on the plane */ |
| scale_edge0 = -D2/(D0-D2); |
| scale_edge1 = -D1/(D2-D1); |
| edge_index0 = 2;edge_index1 = 1; |
| } |
| else if(D0D2>0.0f) |
| { |
| /* here we know that d0d1<=0.0 */ |
| scale_edge0 = -D0/(D1-D0); |
| scale_edge1 = -D1/(D2-D1); |
| edge_index0 = 0;edge_index1 = 1; |
| } |
| else if(D1*D2>0.0f || D0!=0.0f) |
| { |
| /* here we know that d0d1<=0.0 or that D0!=0.0 */ |
| scale_edge0 = -D0/(D1-D0); |
| scale_edge1 = -D2/(D0-D2); |
| edge_index0 = 0 ;edge_index1 = 2; |
| } |
| else |
| { |
| return false; |
| } |
| return true; |
| } |
| |
| |
| //! clip triangle |
| /*! |
| */ |
| SIMD_FORCE_INLINE GUINT clip_triangle( |
| const btVector4 & tri_plane, |
| const btVector3 * tripoints, |
| const btVector3 * srcpoints, |
| btVector3 * clip_points) |
| { |
| // edge 0 |
| |
| btVector4 edgeplane; |
| |
| EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); |
| |
| GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( |
| edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); |
| |
| if(clipped_count == 0) return 0; |
| |
| // edge 1 |
| |
| EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); |
| |
| clipped_count = PLANE_CLIP_POLYGON3D( |
| edgeplane,temp_points,clipped_count,temp_points1); |
| |
| if(clipped_count == 0) return 0; |
| |
| // edge 2 |
| |
| EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); |
| |
| clipped_count = PLANE_CLIP_POLYGON3D( |
| edgeplane,temp_points1,clipped_count,clip_points); |
| |
| return clipped_count; |
| |
| |
| /*GUINT i0 = (tri_plane.closestAxis()+1)%3; |
| GUINT i1 = (i0+1)%3; |
| // edge 0 |
| btVector3 temp_points[MAX_TRI_CLIPPING]; |
| btVector3 temp_points1[MAX_TRI_CLIPPING]; |
| |
| GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC( |
| 0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points, |
| DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1)); |
| |
| |
| if(clipped_count == 0) return 0; |
| |
| // edge 1 |
| clipped_count = PLANE_CLIP_POLYGON_GENERIC( |
| 0,temp_points,clipped_count,temp_points1, |
| DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1)); |
| |
| if(clipped_count == 0) return 0; |
| |
| // edge 2 |
| clipped_count = PLANE_CLIP_POLYGON_GENERIC( |
| 0,temp_points1,clipped_count,clipped_points, |
| DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1)); |
| |
| return clipped_count;*/ |
| } |
| |
| SIMD_FORCE_INLINE void sort_isect( |
| GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1) |
| { |
| if(isect1<isect0) |
| { |
| //swap |
| GIM_SWAP_NUMBERS(isect0,isect1); |
| GIM_SWAP_NUMBERS(e0,e1); |
| btVector3 tmp = vec0; |
| vec0 = vec1; |
| vec1 = tmp; |
| } |
| } |
| |
| //! Test verifying interval intersection with the direction between planes |
| /*! |
| \pre tv_plane and tu_plane must be set |
| \post |
| distances[2] is set with the distance |
| closest_point_u, closest_point_v, edge_edge_dir are set too |
| \return |
| - 0: faces are paralele |
| - 1: face U casts face V |
| - 2: face V casts face U |
| - 3: nearest edges |
| */ |
| SIMD_FORCE_INLINE GUINT cross_line_intersection_test() |
| { |
| // Compute direction of intersection line |
| edge_edge_dir = tu_plane.cross(tv_plane); |
| GREAL Dlen; |
| VEC_LENGTH(edge_edge_dir,Dlen); |
| |
| if(Dlen<0.0001) |
| { |
| return 0; //faces near paralele |
| } |
| |
| edge_edge_dir*= 1/Dlen;//normalize |
| |
| |
| // Compute interval for triangle 1 |
| GUINT tu_e0,tu_e1;//edge indices |
| GREAL tu_scale_e0,tu_scale_e1;//edge scale |
| if(!compute_intervals(du[0],du[1],du[2], |
| du0du1,du0du2,tu_scale_e0,tu_scale_e1,tu_e0,tu_e1)) return 0; |
| |
| // Compute interval for triangle 2 |
| GUINT tv_e0,tv_e1;//edge indices |
| GREAL tv_scale_e0,tv_scale_e1;//edge scale |
| |
| if(!compute_intervals(dv[0],dv[1],dv[2], |
| dv0dv1,dv0dv2,tv_scale_e0,tv_scale_e1,tv_e0,tv_e1)) return 0; |
| |
| //proyected vertices |
| btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0+1)%3],tu_scale_e0); |
| btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1+1)%3],tu_scale_e1); |
| |
| btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0+1)%3],tv_scale_e0); |
| btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1+1)%3],tv_scale_e1); |
| |
| //proyected intervals |
| GREAL isect_u[] = {up_e0.dot(edge_edge_dir),up_e1.dot(edge_edge_dir)}; |
| GREAL isect_v[] = {vp_e0.dot(edge_edge_dir),vp_e1.dot(edge_edge_dir)}; |
| |
| sort_isect(isect_u[0],isect_u[1],tu_e0,tu_e1,up_e0,up_e1); |
| sort_isect(isect_v[0],isect_v[1],tv_e0,tv_e1,vp_e0,vp_e1); |
| |
| const GREAL midpoint_u = 0.5f*(isect_u[0]+isect_u[1]); // midpoint |
| const GREAL midpoint_v = 0.5f*(isect_v[0]+isect_v[1]); // midpoint |
| |
| if(midpoint_u<midpoint_v) |
| { |
| if(isect_u[1]>=isect_v[1]) // face U casts face V |
| { |
| return 1; |
| } |
| else if(isect_v[0]<=isect_u[0]) // face V casts face U |
| { |
| return 2; |
| } |
| // closest points |
| closest_point_u = up_e1; |
| closest_point_v = vp_e0; |
| // calc edges and separation |
| |
| if(isect_u[1]+ MIN_EDGE_EDGE_DIS<isect_v[0]) //calc distance between two lines instead |
| { |
| SEGMENT_COLLISION( |
| tu_vertices[tu_e1],tu_vertices[(tu_e1+1)%3], |
| tv_vertices[tv_e0],tv_vertices[(tv_e0+1)%3], |
| closest_point_u, |
| closest_point_v); |
| |
| edge_edge_dir = closest_point_u-closest_point_v; |
| VEC_LENGTH(edge_edge_dir,distances[2]); |
| edge_edge_dir *= 1.0f/distances[2];// normalize |
| } |
| else |
| { |
| distances[2] = isect_v[0]-isect_u[1];//distance negative |
| //edge_edge_dir *= -1.0f; //normal pointing from V to U |
| } |
| |
| } |
| else |
| { |
| if(isect_v[1]>=isect_u[1]) // face V casts face U |
| { |
| return 2; |
| } |
| else if(isect_u[0]<=isect_v[0]) // face U casts face V |
| { |
| return 1; |
| } |
| // closest points |
| closest_point_u = up_e0; |
| closest_point_v = vp_e1; |
| // calc edges and separation |
| |
| if(isect_v[1]+MIN_EDGE_EDGE_DIS<isect_u[0]) //calc distance between two lines instead |
| { |
| SEGMENT_COLLISION( |
| tu_vertices[tu_e0],tu_vertices[(tu_e0+1)%3], |
| tv_vertices[tv_e1],tv_vertices[(tv_e1+1)%3], |
| closest_point_u, |
| closest_point_v); |
| |
| edge_edge_dir = closest_point_u-closest_point_v; |
| VEC_LENGTH(edge_edge_dir,distances[2]); |
| edge_edge_dir *= 1.0f/distances[2];// normalize |
| } |
| else |
| { |
| distances[2] = isect_u[0]-isect_v[1];//distance negative |
| //edge_edge_dir *= -1.0f; //normal pointing from V to U |
| } |
| } |
| return 3; |
| } |
| |
| |
| //! collides by two sides |
| SIMD_FORCE_INLINE bool triangle_collision( |
| const btVector3 & u0, |
| const btVector3 & u1, |
| const btVector3 & u2, |
| GREAL margin_u, |
| const btVector3 & v0, |
| const btVector3 & v1, |
| const btVector3 & v2, |
| GREAL margin_v, |
| GIM_TRIANGLE_CONTACT_DATA & contacts) |
| { |
| |
| margin = margin_u + margin_v; |
| |
| tu_vertices[0] = u0; |
| tu_vertices[1] = u1; |
| tu_vertices[2] = u2; |
| |
| tv_vertices[0] = v0; |
| tv_vertices[1] = v1; |
| tv_vertices[2] = v2; |
| |
| //create planes |
| // plane v vs U points |
| |
| TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],tv_plane); |
| |
| du[0] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[0]); |
| du[1] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[1]); |
| du[2] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[2]); |
| |
| |
| du0du1 = du[0] * du[1]; |
| du0du2 = du[0] * du[2]; |
| |
| |
| if(du0du1>0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? |
| { |
| if(du[0]<0) //we need test behind the triangle plane |
| { |
| distances[0] = GIM_MAX3(du[0],du[1],du[2]); |
| distances[0] = -distances[0]; |
| if(distances[0]>margin) return false; //never intersect |
| |
| //reorder triangle v |
| VEC_SWAP(tv_vertices[0],tv_vertices[1]); |
| VEC_SCALE_4(tv_plane,-1.0f,tv_plane); |
| } |
| else |
| { |
| distances[0] = GIM_MIN3(du[0],du[1],du[2]); |
| if(distances[0]>margin) return false; //never intersect |
| } |
| } |
| else |
| { |
| //Look if we need to invert the triangle |
| distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid |
| |
| if(distances[0]<0.0f) |
| { |
| //reorder triangle v |
| VEC_SWAP(tv_vertices[0],tv_vertices[1]); |
| VEC_SCALE_4(tv_plane,-1.0f,tv_plane); |
| |
| distances[0] = GIM_MAX3(du[0],du[1],du[2]); |
| distances[0] = -distances[0]; |
| } |
| else |
| { |
| distances[0] = GIM_MIN3(du[0],du[1],du[2]); |
| } |
| } |
| |
| |
| // plane U vs V points |
| |
| TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane); |
| |
| dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]); |
| dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]); |
| dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]); |
| |
| dv0dv1 = dv[0] * dv[1]; |
| dv0dv2 = dv[0] * dv[2]; |
| |
| |
| if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? |
| { |
| if(dv[0]<0) //we need test behind the triangle plane |
| { |
| distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); |
| distances[1] = -distances[1]; |
| if(distances[1]>margin) return false; //never intersect |
| |
| //reorder triangle u |
| VEC_SWAP(tu_vertices[0],tu_vertices[1]); |
| VEC_SCALE_4(tu_plane,-1.0f,tu_plane); |
| } |
| else |
| { |
| distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); |
| if(distances[1]>margin) return false; //never intersect |
| } |
| } |
| else |
| { |
| //Look if we need to invert the triangle |
| distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid |
| |
| if(distances[1]<0.0f) |
| { |
| //reorder triangle v |
| VEC_SWAP(tu_vertices[0],tu_vertices[1]); |
| VEC_SCALE_4(tu_plane,-1.0f,tu_plane); |
| |
| distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); |
| distances[1] = -distances[1]; |
| } |
| else |
| { |
| distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); |
| } |
| } |
| |
| GUINT bl; |
| /* bl = cross_line_intersection_test(); |
| if(bl==3) |
| { |
| //take edge direction too |
| bl = distances.maxAxis(); |
| } |
| else |
| {*/ |
| bl = 0; |
| if(distances[0]<distances[1]) bl = 1; |
| //} |
| |
| if(bl==2) //edge edge separation |
| { |
| if(distances[2]>margin) return false; |
| |
| contacts.m_penetration_depth = -distances[2] + margin; |
| contacts.m_points[0] = closest_point_v; |
| contacts.m_point_count = 1; |
| VEC_COPY(contacts.m_separating_normal,edge_edge_dir); |
| |
| return true; |
| } |
| |
| //clip face against other |
| |
| |
| GUINT point_count; |
| //TODO |
| if(bl == 0) //clip U points against V |
| { |
| point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points); |
| if(point_count == 0) return false; |
| contacts.merge_points(tv_plane,margin,contact_points,point_count); |
| } |
| else //clip V points against U |
| { |
| point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points); |
| if(point_count == 0) return false; |
| contacts.merge_points(tu_plane,margin,contact_points,point_count); |
| contacts.m_separating_normal *= -1.f; |
| } |
| if(contacts.m_point_count == 0) return false; |
| return true; |
| } |
| |
| }; |
| |
| |
| /*class GIM_TRIANGLE_CALCULATION_CACHE |
| { |
| public: |
| GREAL margin; |
| GUINT clipped_count; |
| btVector3 tu_vertices[3]; |
| btVector3 tv_vertices[3]; |
| btVector3 temp_points[MAX_TRI_CLIPPING]; |
| btVector3 temp_points1[MAX_TRI_CLIPPING]; |
| btVector3 clipped_points[MAX_TRI_CLIPPING]; |
| GIM_TRIANGLE_CONTACT_DATA contacts1; |
| GIM_TRIANGLE_CONTACT_DATA contacts2; |
| |
| |
| //! clip triangle |
| GUINT clip_triangle( |
| const btVector4 & tri_plane, |
| const btVector3 * tripoints, |
| const btVector3 * srcpoints, |
| btVector3 * clipped_points) |
| { |
| // edge 0 |
| |
| btVector4 edgeplane; |
| |
| EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); |
| |
| GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( |
| edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); |
| |
| if(clipped_count == 0) return 0; |
| |
| // edge 1 |
| |
| EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); |
| |
| clipped_count = PLANE_CLIP_POLYGON3D( |
| edgeplane,temp_points,clipped_count,temp_points1); |
| |
| if(clipped_count == 0) return 0; |
| |
| // edge 2 |
| |
| EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); |
| |
| clipped_count = PLANE_CLIP_POLYGON3D( |
| edgeplane,temp_points1,clipped_count,clipped_points); |
| |
| return clipped_count; |
| } |
| |
| |
| |
| |
| //! collides only on one side |
| bool triangle_collision( |
| const btVector3 & u0, |
| const btVector3 & u1, |
| const btVector3 & u2, |
| GREAL margin_u, |
| const btVector3 & v0, |
| const btVector3 & v1, |
| const btVector3 & v2, |
| GREAL margin_v, |
| GIM_TRIANGLE_CONTACT_DATA & contacts) |
| { |
| |
| margin = margin_u + margin_v; |
| |
| |
| tu_vertices[0] = u0; |
| tu_vertices[1] = u1; |
| tu_vertices[2] = u2; |
| |
| tv_vertices[0] = v0; |
| tv_vertices[1] = v1; |
| tv_vertices[2] = v2; |
| |
| //create planes |
| // plane v vs U points |
| |
| |
| TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal); |
| |
| clipped_count = clip_triangle( |
| contacts1.m_separating_normal,tv_vertices,tu_vertices,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 triangle1 |
| //contacts1.m_separating_normal *= -1.f; |
| |
| //Clip tri1 by tri2 edges |
| |
| TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal); |
| |
| clipped_count = clip_triangle( |
| contacts2.m_separating_normal,tu_vertices,tv_vertices,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 |
| |
| contacts2.m_separating_normal *= -1.f; |
| |
| ////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; |
| } |
| |
| |
| };*/ |
| |
| |
| |
| bool GIM_TRIANGLE::collide_triangle_hard_test( |
| const GIM_TRIANGLE & other, |
| GIM_TRIANGLE_CONTACT_DATA & contact_data) const |
| { |
| GIM_TRIANGLE_CALCULATION_CACHE calc_cache; |
| return calc_cache.triangle_collision( |
| m_vertices[0],m_vertices[1],m_vertices[2],m_margin, |
| other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin, |
| contact_data); |
| |
| } |
| |
| |
| |
| |