| /*! \file btGImpactTriangleShape.h |
| \author Francisco Len Nßjera |
| */ |
| /* |
| 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 "BulletCollision/Gimpact/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; |
| } |
| |
| |