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Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionShapes/btTriangleShape.h')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionShapes/btTriangleShape.h | 182 |
1 files changed, 182 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/BulletCollision/CollisionShapes/btTriangleShape.h new file mode 100644 index 00000000000..847147cf6b4 --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionShapes/btTriangleShape.h @@ -0,0 +1,182 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef OBB_TRIANGLE_MINKOWSKI_H +#define OBB_TRIANGLE_MINKOWSKI_H + +#include "btConvexShape.h" +#include "btBoxShape.h" + +ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape +{ + + +public: + + btVector3 m_vertices1[3]; + + virtual int getNumVertices() const + { + return 3; + } + + btVector3& getVertexPtr(int index) + { + return m_vertices1[index]; + } + + const btVector3& getVertexPtr(int index) const + { + return m_vertices1[index]; + } + virtual void getVertex(int index,btVector3& vert) const + { + vert = m_vertices1[index]; + } + + virtual int getNumEdges() const + { + return 3; + } + + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + { + getVertex(i,pa); + getVertex((i+1)%3,pb); + } + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const + { +// btAssert(0); + getAabbSlow(t,aabbMin,aabbMax); + } + + btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const + { + btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2])); + return m_vertices1[dots.maxAxis()]; + + } + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + { + for (int i=0;i<numVectors;i++) + { + const btVector3& dir = vectors[i]; + btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2])); + supportVerticesOut[i] = m_vertices1[dots.maxAxis()]; + } + + } + + btTriangleShape() : btPolyhedralConvexShape () + { + m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; + } + + btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape () + { + m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; + m_vertices1[0] = p0; + m_vertices1[1] = p1; + m_vertices1[2] = p2; + } + + + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const + { + getPlaneEquation(i,planeNormal,planeSupport); + } + + virtual int getNumPlanes() const + { + return 1; + } + + void calcNormal(btVector3& normal) const + { + normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]); + normal.normalize(); + } + + virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const + { + (void)i; + calcNormal(planeNormal); + planeSupport = m_vertices1[0]; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const + { + (void)mass; + btAssert(0); + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } + + virtual bool isInside(const btVector3& pt,btScalar tolerance) const + { + btVector3 normal; + calcNormal(normal); + //distance to plane + btScalar dist = pt.dot(normal); + btScalar planeconst = m_vertices1[0].dot(normal); + dist -= planeconst; + if (dist >= -tolerance && dist <= tolerance) + { + //inside check on edge-planes + int i; + for (i=0;i<3;i++) + { + btVector3 pa,pb; + getEdge(i,pa,pb); + btVector3 edge = pb-pa; + btVector3 edgeNormal = edge.cross(normal); + edgeNormal.normalize(); + btScalar dist = pt.dot( edgeNormal); + btScalar edgeConst = pa.dot(edgeNormal); + dist -= edgeConst; + if (dist < -tolerance) + return false; + } + + return true; + } + + return false; + } + //debugging + virtual const char* getName()const + { + return "Triangle"; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 2; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + calcNormal(penetrationVector); + if (index) + penetrationVector *= btScalar(-1.); + } + + +}; + +#endif //OBB_TRIANGLE_MINKOWSKI_H + |