1 #ifndef GIM_TRI_COLLISION_H_INCLUDED     2 #define GIM_TRI_COLLISION_H_INCLUDED    42 #define MAX_TRI_CLIPPING 16    77     template<
typename DISTANCE_FUNC,
typename CLASS_PLANE>
    82         m_penetration_depth= -1000.0f;
    88                 for(_k=0;_k<point_count;_k++)
    90                         GREAL _dist = -distance_func(plane,points[_k]) + margin;
    94                                 if(_dist>m_penetration_depth)
    96                                         m_penetration_depth = _dist;
    97                                         point_indices[0] = _k;
   100                                 else if((_dist+
G_EPSILON)>=m_penetration_depth)
   110                         m_points[_k] = points[point_indices[_k]];
   118                 m_separating_normal = plane;
   137         return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
   152         m_vertices[0] = trans(m_vertices[0]);
   153         m_vertices[1] = trans(m_vertices[1]);
   154         m_vertices[2] = trans(m_vertices[2]);
   159                 const btVector3 & e0 = m_vertices[edge_index];
   160                 const btVector3 & e1 = m_vertices[(edge_index+1)%3];
   179         btVector3 xaxis = m_vertices[1] - m_vertices[0];
   184         xaxis = zaxis.
cross(xaxis);
   187         triangle_transform.
setOrigin(m_vertices[0]);
   196         bool collide_triangle_hard_test(
   211                 GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
   216                 return collide_triangle_hard_test(other,contact_data);
   252                 btVector3 _axe1 = m_vertices[1]-m_vertices[0];
   253                 btVector3 _axe2 = m_vertices[2]-m_vertices[0];
   254                 btVector3 _vecproj = point - m_vertices[0];
   256                 GUINT _i2 = (_i1+1)%3;
   259                         u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1]  - _axe1[_i1]*_axe2[_i2]);
   260                         v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];
   264                         u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2]  - _axe1[_i2]*_axe2[_i1]);
   265                         v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];
   300                 this->get_edge_plane(0,tri_normal,edge_plane);
   302                 if(dist-m_margin>0.0f) 
return false; 
   304                 this->get_edge_plane(1,tri_normal,edge_plane);
   306                 if(dist-m_margin>0.0f) 
return false; 
   308                 this->get_edge_plane(2,tri_normal,edge_plane);
   310                 if(dist-m_margin>0.0f) 
return false; 
   323                         btVector3 dif1 = m_vertices[1] - m_vertices[0];
   324                         btVector3 dif2 = m_vertices[2] - m_vertices[0];
   326                 faceplane[3] = m_vertices[0].
dot(faceplane);
   330                 if(res == 0) 
return false;
   331                 if(! is_point_inside(pout,faceplane)) 
return false;
   335                         triangle_normal.
setValue(-faceplane[0],-faceplane[1],-faceplane[2]);
   339                         triangle_normal.
setValue(faceplane[0],faceplane[1],faceplane[2]);
   356                         btVector3 dif1 = m_vertices[1] - m_vertices[0];
   357                         btVector3 dif2 = m_vertices[2] - m_vertices[0];
   359                 faceplane[3] = m_vertices[0].
dot(faceplane);
   363                 if(res != 1) 
return false;
   365                 if(!is_point_inside(pout,faceplane)) 
return false;
   367                 triangle_normal.
setValue(faceplane[0],faceplane[1],faceplane[2]);
   379 #endif // GIM_TRI_COLLISION_H_INCLUDED 
GUINT LINE_PLANE_COLLISION(const CLASS_PLANE &plane, const CLASS_POINT &vDir, const CLASS_POINT &vPoint, CLASS_POINT &pout, T &tparam, T tmin, T tmax)
line collision 
#define TRIANGLE_PLANE(v1, v2, v3, plane)
plane is a vec4f 
#define EDGE_PLANE(e1, e2, n, plane)
Calc a plane from an edge an a normal. plane is a vec4f. 
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
void apply_transform(const btTransform &trans)
bool ray_collision_front_side(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
one direccion ray collision 
bool has_collision(const GIM_AABB &other) const 
#define SIMD_FORCE_INLINE
#define MAT_SET_X(mat, vec3)
Get the triple(3) col of a transform matrix. 
void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const 
btScalar dot(const btVector3 &v) const 
Return the dot product. 
void get_plane(btVector4 &plane) const 
This function calcs the distance from a 3D plane. 
void get_normal(btVector3 &normal) const 
bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const 
is point in triangle beam? 
bool collide_triangle(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const 
Test boxes before doing hard test. 
Class for colliding triangles. 
#define MAT_SET_Y(mat, vec3)
Get the triple(3) col of a transform matrix. 
btVector3 cross(const btVector3 &v) const 
Return the cross product between this and another vector. 
btVector3 can be used to represent 3D points and vectors. 
#define DISTANCE_PLANE_POINT(plane, point)
void get_triangle_transform(btTransform &triangle_transform) const 
Gets the relative transformation of this triangle. 
#define VEC_CROSS(c, a, b)
Vector cross. 
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
bool ray_collision(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
Bidireccional ray collision. 
bool get_uv_parameters(const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const 
#define MAT_SET_Z(mat, vec3)
Get the triple(3) col of a transform matrix. 
#define TRIANGLE_NORMAL(v1, v2, v3, n)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define VEC_NORMALIZE(a)
Vector length. 
btScalar btFabs(btScalar x)