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:
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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 #ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
25 #define GIMPACT_TRIANGLE_SHAPE_EX_H
26 
29 #include "btBoxCollision.h"
30 #include "btClipPolygon.h"
31 #include "btGeometryOperations.h"
32 
33 #define MAX_TRI_CLIPPING 16
34 
37 {
42 
44  {
48  int i = m_point_count;
49  while (i--)
50  {
51  m_points[i] = other.m_points[i];
52  }
53  }
54 
56  {
57  }
58 
60  {
61  copy_from(other);
62  }
63 
65  void merge_points(const btVector4& plane,
66  btScalar margin, const btVector3* points, int point_count);
67 };
68 
70 {
71 public:
77  {
78  }
79 
81  {
82  btVector3 normal = (m_vertices[1] - m_vertices[0]).cross(m_vertices[2] - m_vertices[0]);
83  normal.normalize();
84  m_plane.setValue(normal[0], normal[1], normal[2], m_vertices[0].dot(normal));
85  }
86 
89 
91 
94  SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4& plane) const
95  {
96  const btVector3& e0 = m_vertices[edge_index];
97  const btVector3& e1 = m_vertices[(edge_index + 1) % 3];
98  bt_edge_plane(e0, e1, m_plane, plane);
99  }
100 
102  {
103  m_vertices[0] = t(m_vertices[0]);
104  m_vertices[1] = t(m_vertices[1]);
105  m_vertices[2] = t(m_vertices[2]);
106  }
107 
109 
113  int clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points);
114 
116 
120 };
121 
123 
127 {
128 public:
130  {
131  }
132 
133  btTriangleShapeEx(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btTriangleShape(p0, p1, p2)
134  {
135  }
136 
138  {
139  }
140 
141  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
142  {
143  btVector3 tv0 = t(m_vertices1[0]);
144  btVector3 tv1 = t(m_vertices1[1]);
145  btVector3 tv2 = t(m_vertices1[2]);
146 
147  btAABB trianglebox(tv0, tv1, tv2, m_collisionMargin);
148  aabbMin = trianglebox.m_min;
149  aabbMax = trianglebox.m_max;
150  }
151 
153  {
154  m_vertices1[0] = t(m_vertices1[0]);
155  m_vertices1[1] = t(m_vertices1[1]);
156  m_vertices1[2] = t(m_vertices1[2]);
157  }
158 
160  {
161  btVector3 normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
162  normal.normalize();
163  plane.setValue(normal[0], normal[1], normal[2], m_vertices1[0].dot(normal));
164  }
165 
166  bool overlap_test_conservative(const btTriangleShapeEx& other);
167 };
168 
169 #endif //GIMPACT_TRIANGLE_MESH_SHAPE_H
btTriangleShapeEx(const btVector3 &p0, const btVector3 &p1, const btVector3 &p2)
bool overlap_test_conservative(const btTriangleShapeEx &other)
class btTriangleShapeEx: public btTriangleShape
bool overlap_test_conservative(const btPrimitiveTriangle &other)
Test if triangles could collide.
void copy_from(const GIM_TRIANGLE_CONTACT &other)
Helper class for colliding Bullet Triangle Shapes.
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.
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.
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btVector3 m_max
void applyTransform(const btTransform &t)
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btVector3 m_min
btVector3 m_points[MAX_TRI_CLIPPING]
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
#define MAX_TRI_CLIPPING
Axis aligned box.
GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT &other)
void merge_points(const btVector4 &plane, btScalar margin, const btVector3 *points, int point_count)
classify points that are closer
int clip_triangle(btPrimitiveTriangle &other, btVector3 *clipped_points)
Clips the triangle against this.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
bool find_triangle_collision_clip_method(btPrimitiveTriangle &other, GIM_TRIANGLE_CONTACT &contacts)
Find collision using the clipping method.
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
Structure for collision.
void buildTriPlane(btVector4 &plane) const
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
Definition: btQuaternion.h:888
btTriangleShapeEx(const btTriangleShapeEx &other)
btVector3 m_vertices1[3]
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
void applyTransform(const btTransform &t)
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set x,y,z and zero w.
Definition: btVector3.h:1198