Bullet Collision Detection & Physics Library: btTriangleShapeEx.h Source File

Bullet Collision Detection & Physics Library

btTriangleShapeEx.h
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1
4 /*
5 This source file is part of GIMPACT Library.
6
7 For the latest info, see http://gimpact.sourceforge.net/
8
9 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10 email: projectileman@yahoo.com
11
12
13 This software is provided 'as-is', without any express or implied warranty.
14 In no event will the authors be held liable for any damages arising from the use of this software.
15 Permission is granted to anyone to use this software for any purpose,
16 including commercial applications, and to alter it and redistribute it freely,
17 subject to the following restrictions:
18
19 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.
20 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
21 3. This notice may not be removed or altered from any source distribution.
22 */
23
24
25 #ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
26 #define GIMPACT_TRIANGLE_SHAPE_EX_H
27
28 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
29 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
30 #include "btBoxCollision.h"
31 #include "btClipPolygon.h"
32 #include "btGeometryOperations.h"
33
34
35 #define MAX_TRI_CLIPPING 16
36
38 struct GIM_TRIANGLE_CONTACT
39 {
40 btScalar m_penetration_depth;
41 int m_point_count;
42 btVector4 m_separating_normal;
43 btVector3 m_points[MAX_TRI_CLIPPING];
44
45 SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
46 {
47 m_penetration_depth = other.m_penetration_depth;
48 m_separating_normal = other.m_separating_normal;
49 m_point_count = other.m_point_count;
50 int i = m_point_count;
51 while(i--)
52 {
53 m_points[i] = other.m_points[i];
54 }
55 }
56
57 GIM_TRIANGLE_CONTACT()
58 {
59 }
60
61 GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
62 {
63 copy_from(other);
64 }
65
67 void merge_points(const btVector4 & plane,
68 btScalar margin, const btVector3 * points, int point_count);
69
70 };
71
72
73
74 class btPrimitiveTriangle
75 {
76 public:
77 btVector3 m_vertices[3];
78 btVector4 m_plane;
79 btScalar m_margin;
80 btScalar m_dummy;
81 btPrimitiveTriangle():m_margin(0.01f)
82 {
83
84 }
85
86
87 SIMD_FORCE_INLINE void buildTriPlane()
88 {
89 btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]);
90 normal.normalize();
91 m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal));
92 }
93
95 bool overlap_test_conservative(const btPrimitiveTriangle& other);
96
98
101 SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane) const
102 {
103 const btVector3 & e0 = m_vertices[edge_index];
104 const btVector3 & e1 = m_vertices[(edge_index+1)%3];
105 bt_edge_plane(e0,e1,m_plane,plane);
106 }
107
108 void applyTransform(const btTransform& t)
109 {
110 m_vertices[0] = t(m_vertices[0]);
111 m_vertices[1] = t(m_vertices[1]);
112 m_vertices[2] = t(m_vertices[2]);
113 }
114
116
120 int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points );
121
123
126 bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
127 };
128
129
130
132
135 class btTriangleShapeEx: public btTriangleShape
136 {
137 public:
138
139 btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0))
140 {
141 }
142
143 btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2): btTriangleShape(p0,p1,p2)
144 {
145 }
146
147 btTriangleShapeEx(const btTriangleShapeEx & other): btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2])
148 {
149 }
150
151 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
152 {
153 btVector3 tv0 = t(m_vertices1[0]);
154 btVector3 tv1 = t(m_vertices1[1]);
155 btVector3 tv2 = t(m_vertices1[2]);
156
157 btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin);
158 aabbMin = trianglebox.m_min;
159 aabbMax = trianglebox.m_max;
160 }
161
162 void applyTransform(const btTransform& t)
163 {
164 m_vertices1[0] = t(m_vertices1[0]);
165 m_vertices1[1] = t(m_vertices1[1]);
166 m_vertices1[2] = t(m_vertices1[2]);
167 }
168
169 SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const
170 {
171 btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
172 normal.normalize();
173 plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal));
174 }
175
176 bool overlap_test_conservative(const btTriangleShapeEx& other);
177 };
178
179
180 #endif //GIMPACT_TRIANGLE_MESH_SHAPE_H
btTriangleShapeEx::btTriangleShapeEx
btTriangleShapeEx(const btVector3 &p0, const btVector3 &p1, const btVector3 &p2)
Definition: btTriangleShapeEx.h:143
GIM_TRIANGLE_CONTACT::m_point_count
int m_point_count
Definition: btTriangleShapeEx.h:41
GIM_TRIANGLE_CONTACT::copy_from
void copy_from(const GIM_TRIANGLE_CONTACT &other)
Definition: btTriangleShapeEx.h:45
btPrimitiveTriangle
Definition: btTriangleShapeEx.h:74
btTriangleShapeEx
Helper class for colliding Bullet Triangle Shapes.
Definition: btTriangleShapeEx.h:135
bt_edge_plane
void bt_edge_plane(const btVector3 &e1, const btVector3 &e2, const btVector3 &normal, btVector4 &plane)
Calc a plane from a triangle edge an a normal. plane is a vec4f.
Definition: btGeometryOperations.h:41
btPrimitiveTriangle::get_edge_plane
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.
Definition: btTriangleShapeEx.h:101
btTriangleShapeEx::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btTriangleShapeEx.h:151
btAABB::m_max
btVector3 m_max
Definition: btBoxCollision.h:233
btTriangleShapeEx::applyTransform
void applyTransform(const btTransform &t)
Definition: btTriangleShapeEx.h:162
btPrimitiveTriangle::btPrimitiveTriangle
btPrimitiveTriangle()
Definition: btTriangleShapeEx.h:81
btPrimitiveTriangle::m_dummy
btScalar m_dummy
Definition: btTriangleShapeEx.h:80
btClipPolygon.h
btPrimitiveTriangle::m_plane
btVector4 m_plane
Definition: btTriangleShapeEx.h:78
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
btTriangleShape.h
btTriangleShape
Definition: btTriangleShape.h:22
btAABB::m_min
btVector3 m_min
Definition: btBoxCollision.h:232
GIM_TRIANGLE_CONTACT::GIM_TRIANGLE_CONTACT
GIM_TRIANGLE_CONTACT()
Definition: btTriangleShapeEx.h:57
GIM_TRIANGLE_CONTACT::m_points
btVector3 m_points[MAX_TRI_CLIPPING]
Definition: btTriangleShapeEx.h:43
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309
btPrimitiveTriangle::buildTriPlane
void buildTriPlane()
Definition: btTriangleShapeEx.h:87
btVector4
Definition: btVector3.h:1089
MAX_TRI_CLIPPING
#define MAX_TRI_CLIPPING
Definition: btTriangleShapeEx.h:35
btAABB
Axis aligned box.
Definition: btBoxCollision.h:229
btGeometryOperations.h
GIM_TRIANGLE_CONTACT::GIM_TRIANGLE_CONTACT
GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT &other)
Definition: btTriangleShapeEx.h:61
GIM_TRIANGLE_CONTACT::merge_points
void merge_points(const btVector4 &plane, btScalar margin, const btVector3 *points, int point_count)
classify points that are closer
Definition: btTriangleShapeEx.cpp:28
btCollisionShape.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btPrimitiveTriangle::m_margin
btScalar m_margin
Definition: btTriangleShapeEx.h:79
GIM_TRIANGLE_CONTACT
Structure for collision.
Definition: btTriangleShapeEx.h:38
btBoxCollision.h
btTriangleShapeEx::btTriangleShapeEx
btTriangleShapeEx()
Definition: btTriangleShapeEx.h:139
btTriangleShapeEx::buildTriPlane
void buildTriPlane(btVector4 &plane) const
Definition: btTriangleShapeEx.h:169
dot
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
Definition: btQuaternion.h:878
btTriangleShapeEx::btTriangleShapeEx
btTriangleShapeEx(const btTriangleShapeEx &other)
Definition: btTriangleShapeEx.h:147
GIM_TRIANGLE_CONTACT::m_penetration_depth
btScalar m_penetration_depth
Definition: btTriangleShapeEx.h:40
GIM_TRIANGLE_CONTACT::m_separating_normal
btVector4 m_separating_normal
Definition: btTriangleShapeEx.h:42
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btPrimitiveTriangle::applyTransform
void applyTransform(const btTransform &t)
Definition: btTriangleShapeEx.h:108
btVector4::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set x,y,z and zero w.
Definition: btVector3.h:1225