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Diffstat (limited to 'extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.h')
-rw-r--r--extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.h180
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diff --git a/extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.h b/extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.h
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--- a/extern/bullet2/BulletCollision/Gimpact/btTriangleShapeEx.h
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-/*! \file btGImpactShape.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.
-*/
-
-
-#ifndef TRIANGLE_SHAPE_EX_H
-#define TRIANGLE_SHAPE_EX_H
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "btBoxCollision.h"
-#include "btClipPolygon.h"
-#include "btGeometryOperations.h"
-
-
-#define MAX_TRI_CLIPPING 16
-
-//! Structure for collision
-struct GIM_TRIANGLE_CONTACT
-{
- btScalar m_penetration_depth;
- int m_point_count;
- btVector4 m_separating_normal;
- btVector3 m_points[MAX_TRI_CLIPPING];
-
- SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
- {
- m_penetration_depth = other.m_penetration_depth;
- m_separating_normal = other.m_separating_normal;
- m_point_count = other.m_point_count;
- int i = m_point_count;
- while(i--)
- {
- m_points[i] = other.m_points[i];
- }
- }
-
- GIM_TRIANGLE_CONTACT()
- {
- }
-
- GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
- {
- copy_from(other);
- }
-
- //! classify points that are closer
- void merge_points(const btVector4 & plane,
- btScalar margin, const btVector3 * points, int point_count);
-
-};
-
-
-
-class btPrimitiveTriangle
-{
-public:
- btVector3 m_vertices[3];
- btVector4 m_plane;
- btScalar m_margin;
- btScalar m_dummy;
- btPrimitiveTriangle():m_margin(0.01f)
- {
-
- }
-
-
- SIMD_FORCE_INLINE void buildTriPlane()
- {
- btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]);
- normal.normalize();
- m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal));
- }
-
- //! Test if triangles could collide
- bool overlap_test_conservative(const btPrimitiveTriangle& other);
-
- //! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane
- /*!
- \pre this triangle must have its plane calculated.
- */
- SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane) const
- {
- const btVector3 & e0 = m_vertices[edge_index];
- const btVector3 & e1 = m_vertices[(edge_index+1)%3];
- bt_edge_plane(e0,e1,m_plane,plane);
- }
-
- void applyTransform(const btTransform& t)
- {
- m_vertices[0] = t(m_vertices[0]);
- m_vertices[1] = t(m_vertices[1]);
- m_vertices[2] = t(m_vertices[2]);
- }
-
- //! Clips the triangle against this
- /*!
- \pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.
- \return the number of clipped points
- */
- int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points );
-
- //! Find collision using the clipping method
- /*!
- \pre this triangle and other must have their triangles calculated
- */
- bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
-};
-
-
-
-//! Helper class for colliding Bullet Triangle Shapes
-/*!
-This class implements a better getAabb method than the previous btTriangleShape class
-*/
-class btTriangleShapeEx: public btTriangleShape
-{
-public:
-
- btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0))
- {
- }
-
- btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2): btTriangleShape(p0,p1,p2)
- {
- }
-
- btTriangleShapeEx(const btTriangleShapeEx & other): btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2])
- {
- }
-
- virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
- {
- btVector3 tv0 = t(m_vertices1[0]);
- btVector3 tv1 = t(m_vertices1[1]);
- btVector3 tv2 = t(m_vertices1[2]);
-
- btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin);
- aabbMin = trianglebox.m_min;
- aabbMax = trianglebox.m_max;
- }
-
- void applyTransform(const btTransform& t)
- {
- m_vertices1[0] = t(m_vertices1[0]);
- m_vertices1[1] = t(m_vertices1[1]);
- m_vertices1[2] = t(m_vertices1[2]);
- }
-
- SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const
- {
- btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
- normal.normalize();
- plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal));
- }
-
- bool overlap_test_conservative(const btTriangleShapeEx& other);
-};
-
-
-#endif //TRIANGLE_MESH_SHAPE_H