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Diffstat (limited to 'extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.cpp | 218 |
1 files changed, 218 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.cpp b/extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.cpp new file mode 100644 index 00000000000..78696277c34 --- /dev/null +++ b/extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.cpp @@ -0,0 +1,218 @@ +/*! \file btGImpactTriangleShape.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "btTriangleShapeEx.h" + + + +void GIM_TRIANGLE_CONTACT::merge_points(const btVector4 & plane, + btScalar margin, const btVector3 * points, int point_count) +{ + m_point_count = 0; + m_penetration_depth= -1000.0f; + + int point_indices[MAX_TRI_CLIPPING]; + + int _k; + + for ( _k=0;_k<point_count;_k++) + { + btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin; + + if (_dist>=0.0f) + { + if (_dist>m_penetration_depth) + { + m_penetration_depth = _dist; + point_indices[0] = _k; + m_point_count=1; + } + else if ((_dist+SIMD_EPSILON)>=m_penetration_depth) + { + point_indices[m_point_count] = _k; + m_point_count++; + } + } + } + + for ( _k=0;_k<m_point_count;_k++) + { + m_points[_k] = points[point_indices[_k]]; + } +} + +///class btPrimitiveTriangle +bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other) +{ + btScalar total_margin = m_margin + other.m_margin; + // classify points on other triangle + btScalar dis0 = bt_distance_point_plane(m_plane,other.m_vertices[0]) - total_margin; + + btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin; + + btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + // classify points on this triangle + dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin; + + dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin; + + dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + return true; +} + +int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points ) +{ + // edge 0 + + btVector3 temp_points[MAX_TRI_CLIPPING]; + + + btVector4 edgeplane; + + get_edge_plane(0,edgeplane); + + + int clipped_count = bt_plane_clip_triangle( + edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points); + + if (clipped_count == 0) return 0; + + btVector3 temp_points1[MAX_TRI_CLIPPING]; + + + // edge 1 + get_edge_plane(1,edgeplane); + + + clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1); + + if (clipped_count == 0) return 0; + + // edge 2 + get_edge_plane(2,edgeplane); + + clipped_count = bt_plane_clip_polygon( + edgeplane,temp_points1,clipped_count,clipped_points); + + return clipped_count; +} + +bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts) +{ + btScalar margin = m_margin + other.m_margin; + + btVector3 clipped_points[MAX_TRI_CLIPPING]; + int clipped_count; + //create planes + // plane v vs U points + + GIM_TRIANGLE_CONTACT contacts1; + + contacts1.m_separating_normal = m_plane; + + + clipped_count = clip_triangle(other,clipped_points); + + if (clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); + if (contacts1.m_point_count == 0) return false; // too far + //Normal pointing to this triangle + contacts1.m_separating_normal *= -1.f; + + + //Clip tri1 by tri2 edges + GIM_TRIANGLE_CONTACT contacts2; + contacts2.m_separating_normal = other.m_plane; + + clipped_count = other.clip_triangle(*this,clipped_points); + + if (clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); + if (contacts2.m_point_count == 0) return false; // too far + + + + + ////check most dir for contacts + if (contacts2.m_penetration_depth<contacts1.m_penetration_depth) + { + contacts.copy_from(contacts2); + } + else + { + contacts.copy_from(contacts1); + } + return true; +} + + + +///class btTriangleShapeEx: public btTriangleShape + +bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other) +{ + btScalar total_margin = getMargin() + other.getMargin(); + + btVector4 plane0; + buildTriPlane(plane0); + btVector4 plane1; + other.buildTriPlane(plane1); + + // classify points on other triangle + btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin; + + btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin; + + btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + // classify points on this triangle + dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin; + + dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin; + + dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + return true; +} + + |