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 #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
btClipPolygon.h
btPrimitiveTriangle::m_dummy
btScalar m_dummy
Definition: btTriangleShapeEx.h:75
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:37
btTriangleShapeEx::btTriangleShapeEx
btTriangleShapeEx(const btVector3 &p0, const btVector3 &p1, const btVector3 &p2)
Definition: btTriangleShapeEx.h:133
btCollisionShape.h
dot
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
Definition: btQuaternion.h:888
btTriangleShapeEx::applyTransform
void applyTransform(const btTransform &t)
Definition: btTriangleShapeEx.h:152
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btPrimitiveTriangle::find_triangle_collision_clip_method
bool find_triangle_collision_clip_method(btPrimitiveTriangle &other, GIM_TRIANGLE_CONTACT &contacts)
Find collision using the clipping method.
Definition: btTriangleShapeEx.cpp:120
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:1198
btTriangleShapeEx::getAabb
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...
Definition: btTriangleShapeEx.h:141
GIM_TRIANGLE_CONTACT
Structure for collision.
Definition: btTriangleShapeEx.h:36
MAX_TRI_CLIPPING
#define MAX_TRI_CLIPPING
Definition: btTriangleShapeEx.h:33
btGeometryOperations.h
GIM_TRIANGLE_CONTACT::m_points
btVector3 m_points[MAX_TRI_CLIPPING]
Definition: btTriangleShapeEx.h:41
btPrimitiveTriangle::m_margin
btScalar m_margin
Definition: btTriangleShapeEx.h:74
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:36
btPrimitiveTriangle::btPrimitiveTriangle
btPrimitiveTriangle()
Definition: btTriangleShapeEx.h:76
btPrimitiveTriangle::applyTransform
void applyTransform(const btTransform &t)
Definition: btTriangleShapeEx.h:101
btTriangleShape
Definition: btTriangleShape.h:22
btTriangleShape.h
btVector4
Definition: btVector3.h:1073
btPrimitiveTriangle::overlap_test_conservative
bool overlap_test_conservative(const btPrimitiveTriangle &other)
Test if triangles could collide.
Definition: btTriangleShapeEx.cpp:63
btAABB
Axis aligned box.
Definition: btBoxCollision.h:214
btPrimitiveTriangle
Definition: btTriangleShapeEx.h:69
btTriangleShapeEx
Helper class for colliding Bullet Triangle Shapes.
Definition: btTriangleShapeEx.h:126
GIM_TRIANGLE_CONTACT::m_point_count
int m_point_count
Definition: btTriangleShapeEx.h:39
btPrimitiveTriangle::buildTriPlane
void buildTriPlane()
Definition: btTriangleShapeEx.h:80
GIM_TRIANGLE_CONTACT::m_penetration_depth
btScalar m_penetration_depth
Definition: btTriangleShapeEx.h:38
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btPrimitiveTriangle::m_vertices
btVector3 m_vertices[3]
Definition: btTriangleShapeEx.h:72
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btTriangleShapeEx::btTriangleShapeEx
btTriangleShapeEx()
Definition: btTriangleShapeEx.h:129
btTriangleShape::m_vertices1
btVector3 m_vertices1[3]
Definition: btTriangleShape.h:28
GIM_TRIANGLE_CONTACT::GIM_TRIANGLE_CONTACT
GIM_TRIANGLE_CONTACT()
Definition: btTriangleShapeEx.h:55
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
GIM_TRIANGLE_CONTACT::copy_from
void copy_from(const GIM_TRIANGLE_CONTACT &other)
Definition: btTriangleShapeEx.h:43
btAABB::m_max
btVector3 m_max
Definition: btBoxCollision.h:219
btTriangleShapeEx::buildTriPlane
void buildTriPlane(btVector4 &plane) const
Definition: btTriangleShapeEx.h:159
btPrimitiveTriangle::clip_triangle
int clip_triangle(btPrimitiveTriangle &other, btVector3 *clipped_points)
Clips the triangle against this.
Definition: btTriangleShapeEx.cpp:87
GIM_TRIANGLE_CONTACT::m_separating_normal
btVector4 m_separating_normal
Definition: btTriangleShapeEx.h:40
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:94
btAABB::m_min
btVector3 m_min
Definition: btBoxCollision.h:218
btTriangleShapeEx::btTriangleShapeEx
btTriangleShapeEx(const btTriangleShapeEx &other)
Definition: btTriangleShapeEx.h:137
GIM_TRIANGLE_CONTACT::GIM_TRIANGLE_CONTACT
GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT &other)
Definition: btTriangleShapeEx.h:59
btPrimitiveTriangle::m_plane
btVector4 m_plane
Definition: btTriangleShapeEx.h:73
btBoxCollision.h
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
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:26
btTriangleShapeEx::overlap_test_conservative
bool overlap_test_conservative(const btTriangleShapeEx &other)
class btTriangleShapeEx: public btTriangleShape
Definition: btTriangleShapeEx.cpp:175