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
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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,
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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 
25 #ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
26 #define GIMPACT_TRIANGLE_SHAPE_EX_H
27 
30 #include "btBoxCollision.h"
31 #include "btClipPolygon.h"
32 #include "btGeometryOperations.h"
33 
34 
35 #define MAX_TRI_CLIPPING 16
36 
39 {
44 
46  {
50  int i = m_point_count;
51  while(i--)
52  {
53  m_points[i] = other.m_points[i];
54  }
55  }
56 
58  {
59  }
60 
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 
75 {
76 public:
82  {
83 
84  }
85 
86 
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 
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 
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 
127 };
128 
129 
130 
132 
136 {
137 public:
138 
140  {
141  }
142 
143  btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2): btTriangleShape(p0,p1,p2)
144  {
145  }
146 
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 
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 
170  {
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(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.
btVector3 m_max
void applyTransform(const btTransform &t)
void buildTriPlane(btVector4 &plane) const
#define SIMD_FORCE_INLINE
Definition: btScalar.h:58
btVector3 m_min
btVector3 m_points[MAX_TRI_CLIPPING]
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:297
#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
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.
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:83
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:34
Structure for collision.
static float4 cross(const float4 &a, const float4 &b)
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...
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
Definition: btQuaternion.h:827
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:266
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:1213