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Diffstat (limited to 'extern/bullet2/BulletCollision/Gimpact/gim_tri_collision.h')
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1 files changed, 0 insertions, 379 deletions
diff --git a/extern/bullet2/BulletCollision/Gimpact/gim_tri_collision.h b/extern/bullet2/BulletCollision/Gimpact/gim_tri_collision.h deleted file mode 100644 index 2d6e43a1a2e..00000000000 --- a/extern/bullet2/BulletCollision/Gimpact/gim_tri_collision.h +++ /dev/null @@ -1,379 +0,0 @@ -#ifndef GIM_TRI_COLLISION_H_INCLUDED -#define GIM_TRI_COLLISION_H_INCLUDED - -/*! \file gim_tri_collision.h -\author Francisco Len Nßjera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "gim_box_collision.h" -#include "gim_clip_polygon.h" - - - - -#define MAX_TRI_CLIPPING 16 - -//! Structure for collision -struct GIM_TRIANGLE_CONTACT_DATA -{ - GREAL m_penetration_depth; - GUINT m_point_count; - btVector4 m_separating_normal; - btVector3 m_points[MAX_TRI_CLIPPING]; - - SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other) - { - m_penetration_depth = other.m_penetration_depth; - m_separating_normal = other.m_separating_normal; - m_point_count = other.m_point_count; - GUINT i = m_point_count; - while(i--) - { - m_points[i] = other.m_points[i]; - } - } - - GIM_TRIANGLE_CONTACT_DATA() - { - } - - GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other) - { - copy_from(other); - } - - - - - //! classify points that are closer - template<typename DISTANCE_FUNC,typename CLASS_PLANE> - SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane, - GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func) - { - m_point_count = 0; - m_penetration_depth= -1000.0f; - - GUINT point_indices[MAX_TRI_CLIPPING]; - - GUINT _k; - - for(_k=0;_k<point_count;_k++) - { - GREAL _dist = -distance_func(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+G_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]]; - } - } - - //! classify points that are closer - SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin, - const btVector3 * points, GUINT point_count) - { - m_separating_normal = plane; - mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC()); - } -}; - - -//! Class for colliding triangles -class GIM_TRIANGLE -{ -public: - btScalar m_margin; - btVector3 m_vertices[3]; - - GIM_TRIANGLE():m_margin(0.1f) - { - } - - SIMD_FORCE_INLINE GIM_AABB get_box() const - { - return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin); - } - - SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const - { - TRIANGLE_NORMAL(m_vertices[0],m_vertices[1],m_vertices[2],normal); - } - - SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const - { - TRIANGLE_PLANE(m_vertices[0],m_vertices[1],m_vertices[2],plane);; - } - - SIMD_FORCE_INLINE void apply_transform(const btTransform & trans) - { - m_vertices[0] = trans(m_vertices[0]); - m_vertices[1] = trans(m_vertices[1]); - m_vertices[2] = trans(m_vertices[2]); - } - - SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane) const - { - const btVector3 & e0 = m_vertices[edge_index]; - const btVector3 & e1 = m_vertices[(edge_index+1)%3]; - EDGE_PLANE(e0,e1,triangle_normal,plane); - } - - //! Gets the relative transformation of this triangle - /*! - The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0: - - triangle normal corresponds to Z axis. - - 1st normalized edge corresponds to X axis, - - */ - SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform) const - { - btMatrix3x3 & matrix = triangle_transform.getBasis(); - - btVector3 zaxis; - get_normal(zaxis); - MAT_SET_Z(matrix,zaxis); - - btVector3 xaxis = m_vertices[1] - m_vertices[0]; - VEC_NORMALIZE(xaxis); - MAT_SET_X(matrix,xaxis); - - //y axis - xaxis = zaxis.cross(xaxis); - MAT_SET_Y(matrix,xaxis); - - triangle_transform.setOrigin(m_vertices[0]); - } - - - //! Test triangles by finding separating axis - /*! - \param other Triangle for collide - \param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle - */ - bool collide_triangle_hard_test( - const GIM_TRIANGLE & other, - GIM_TRIANGLE_CONTACT_DATA & contact_data) const; - - //! Test boxes before doing hard test - /*! - \param other Triangle for collide - \param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle - \ - */ - SIMD_FORCE_INLINE bool collide_triangle( - const GIM_TRIANGLE & other, - GIM_TRIANGLE_CONTACT_DATA & contact_data) const - { - //test box collisioin - GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin); - GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin); - if(!boxu.has_collision(boxv)) return false; - - //do hard test - return collide_triangle_hard_test(other,contact_data); - } - - /*! - - Solve the System for u,v parameters: - - u*axe1[i1] + v*axe2[i1] = vecproj[i1] - u*axe1[i2] + v*axe2[i2] = vecproj[i2] - - sustitute: - v = (vecproj[i2] - u*axe1[i2])/axe2[i2] - - then the first equation in terms of 'u': - - --> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] - - --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] - - --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] - - --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] - - --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] - - --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) - -if 0.0<= u+v <=1.0 then they are inside of triangle - - \return false if the point is outside of triangle.This function doesn't take the margin - */ - SIMD_FORCE_INLINE bool get_uv_parameters( - const btVector3 & point, - const btVector3 & tri_plane, - GREAL & u, GREAL & v) const - { - btVector3 _axe1 = m_vertices[1]-m_vertices[0]; - btVector3 _axe2 = m_vertices[2]-m_vertices[0]; - btVector3 _vecproj = point - m_vertices[0]; - GUINT _i1 = (tri_plane.closestAxis()+1)%3; - GUINT _i2 = (_i1+1)%3; - if(btFabs(_axe2[_i2])<G_EPSILON) - { - u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1] - _axe1[_i1]*_axe2[_i2]); - v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1]; - } - else - { - u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2] - _axe1[_i2]*_axe2[_i1]); - v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2]; - } - - if(u<-G_EPSILON) - { - return false; - } - else if(v<-G_EPSILON) - { - return false; - } - else - { - btScalar sumuv; - sumuv = u+v; - if(sumuv<-G_EPSILON) - { - return false; - } - else if(sumuv-1.0f>G_EPSILON) - { - return false; - } - } - return true; - } - - //! is point in triangle beam? - /*! - Test if point is in triangle, with m_margin tolerance - */ - SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const - { - //Test with edge 0 - btVector4 edge_plane; - this->get_edge_plane(0,tri_normal,edge_plane); - GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point); - if(dist-m_margin>0.0f) return false; // outside plane - - this->get_edge_plane(1,tri_normal,edge_plane); - dist = DISTANCE_PLANE_POINT(edge_plane,point); - if(dist-m_margin>0.0f) return false; // outside plane - - this->get_edge_plane(2,tri_normal,edge_plane); - dist = DISTANCE_PLANE_POINT(edge_plane,point); - if(dist-m_margin>0.0f) return false; // outside plane - return true; - } - - - //! Bidireccional ray collision - SIMD_FORCE_INLINE bool ray_collision( - const btVector3 & vPoint, - const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, - GREAL & tparam, GREAL tmax = G_REAL_INFINITY) - { - btVector4 faceplane; - { - btVector3 dif1 = m_vertices[1] - m_vertices[0]; - btVector3 dif2 = m_vertices[2] - m_vertices[0]; - VEC_CROSS(faceplane,dif1,dif2); - faceplane[3] = m_vertices[0].dot(faceplane); - } - - GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); - if(res == 0) return false; - if(! is_point_inside(pout,faceplane)) return false; - - if(res==2) //invert normal - { - triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]); - } - else - { - triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); - } - - VEC_NORMALIZE(triangle_normal); - - return true; - } - - - //! one direccion ray collision - SIMD_FORCE_INLINE bool ray_collision_front_side( - const btVector3 & vPoint, - const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, - GREAL & tparam, GREAL tmax = G_REAL_INFINITY) - { - btVector4 faceplane; - { - btVector3 dif1 = m_vertices[1] - m_vertices[0]; - btVector3 dif2 = m_vertices[2] - m_vertices[0]; - VEC_CROSS(faceplane,dif1,dif2); - faceplane[3] = m_vertices[0].dot(faceplane); - } - - GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); - if(res != 1) return false; - - if(!is_point_inside(pout,faceplane)) return false; - - triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); - - VEC_NORMALIZE(triangle_normal); - - return true; - } - -}; - - - - -#endif // GIM_TRI_COLLISION_H_INCLUDED |