| Bullet Collision Detection & Physics Library
    | 
 
 
 
Go to the documentation of this file.    1 #ifndef GIM_TRI_COLLISION_H_INCLUDED 
    2 #define GIM_TRI_COLLISION_H_INCLUDED 
   39 #ifndef MAX_TRI_CLIPPING 
   40 #define MAX_TRI_CLIPPING 16 
   73         template <
typename DISTANCE_FUNC, 
typename CLASS_PLANE>
 
   84                 for (_k = 0; _k < point_count; _k++)
 
   86                         GREAL _dist = -distance_func(plane, points[_k]) + margin;
 
   93                                         point_indices[0] = _k;
 
  106                         m_points[_k] = points[point_indices[_k]];
 
  180                 xaxis = zaxis.
cross(xaxis);
 
  251                 GUINT _i2 = (_i1 + 1) % 3;
 
  254                         u = (_vecproj[_i2] * _axe2[_i1] - _vecproj[_i1] * _axe2[_i2]) / (_axe1[_i2] * _axe2[_i1] - _axe1[_i1] * _axe2[_i2]);
 
  255                         v = (_vecproj[_i1] - u * _axe1[_i1]) / _axe2[_i1];
 
  259                         u = (_vecproj[_i1] * _axe2[_i2] - _vecproj[_i2] * _axe2[_i1]) / (_axe1[_i1] * _axe2[_i2] - _axe1[_i2] * _axe2[_i1]);
 
  260                         v = (_vecproj[_i2] - u * _axe1[_i2]) / _axe2[_i2];
 
  297                 if (dist - 
m_margin > 0.0f) 
return false;  
 
  301                 if (dist - 
m_margin > 0.0f) 
return false;  
 
  305                 if (dist - 
m_margin > 0.0f) 
return false;  
 
  324                 if (res == 0) 
return false;
 
  329                         triangle_normal.
setValue(-faceplane[0], -faceplane[1], -faceplane[2]);
 
  333                         triangle_normal.
setValue(faceplane[0], faceplane[1], faceplane[2]);
 
  356                 if (res != 1) 
return false;
 
  360                 triangle_normal.
setValue(faceplane[0], faceplane[1], faceplane[2]);
 
  368 #endif  // GIM_TRI_COLLISION_H_INCLUDED 
 
void get_normal(btVector3 &normal) const
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
#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)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define MAT_SET_Z(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.
btScalar dot(const btVector3 &v) const
Return the dot product.
void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
#define VEC_NORMALIZE(a)
Vector length.
bool has_collision(const GIM_AABB &other) const
bool ray_collision(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
Bidireccional ray collision.
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
btScalar btFabs(btScalar x)
Class for colliding triangles.
bool collide_triangle_hard_test(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test triangles by finding separating axis.
void get_plane(btVector4 &plane) const
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
This function calcs the distance from a 3D plane.
btVector3 can be used to represent 3D points and vectors.
void apply_transform(const btTransform &trans)
#define SIMD_FORCE_INLINE
bool collide_triangle(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test boxes before doing hard test.
bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
is point in triangle beam?
#define VEC_CROSS(c, a, b)
Vector cross.
void get_triangle_transform(btTransform &triangle_transform) const
Gets the relative transformation of this triangle.
bool get_uv_parameters(const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const
#define DISTANCE_PLANE_POINT(plane, point)
#define TRIANGLE_NORMAL(v1, v2, v3, n)
#define MAT_SET_X(mat, vec3)
Get the triple(3) col of a transform matrix.
#define MAT_SET_Y(mat, vec3)
Get the triple(3) col of a transform matrix.