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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef OBB_TRIANGLE_MINKOWSKI_H
#define OBB_TRIANGLE_MINKOWSKI_H
#include "ConvexShape.h"
#include "CollisionShapes/BoxShape.h"
class TriangleShape : public PolyhedralConvexShape
{
public:
SimdVector3 m_vertices1[3];
virtual int GetNumVertices() const
{
return 3;
}
const SimdVector3& GetVertexPtr(int index) const
{
return m_vertices1[index];
}
virtual void GetVertex(int index,SimdVector3& vert) const
{
vert = m_vertices1[index];
}
virtual int GetShapeType() const
{
return TRIANGLE_SHAPE_PROXYTYPE;
}
virtual int GetNumEdges() const
{
return 3;
}
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
{
GetVertex(i,pa);
GetVertex((i+1)%3,pb);
}
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax)const
{
// ASSERT(0);
GetAabbSlow(t,aabbMin,aabbMax);
}
SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& dir)const
{
SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
return m_vertices1[dots.maxAxis()];
}
TriangleShape(const SimdVector3& p0,const SimdVector3& p1,const SimdVector3& p2)
{
m_vertices1[0] = p0;
m_vertices1[1] = p1;
m_vertices1[2] = p2;
}
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
{
GetPlaneEquation(i,planeNormal,planeSupport);
}
virtual int GetNumPlanes() const
{
return 1;
}
void CalcNormal(SimdVector3& normal) const
{
normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
normal.normalize();
}
virtual void GetPlaneEquation(int i, SimdVector3& planeNormal,SimdPoint3& planeSupport) const
{
CalcNormal(planeNormal);
planeSupport = m_vertices1[0];
}
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
ASSERT(0);
inertia.setValue(0.f,0.f,0.f);
}
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
{
SimdVector3 normal;
CalcNormal(normal);
//distance to plane
SimdScalar dist = pt.dot(normal);
SimdScalar 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++)
{
SimdPoint3 pa,pb;
GetEdge(i,pa,pb);
SimdVector3 edge = pb-pa;
SimdVector3 edgeNormal = edge.cross(normal);
edgeNormal.normalize();
SimdScalar dist = pt.dot( edgeNormal);
SimdScalar edgeConst = pa.dot(edgeNormal);
dist -= edgeConst;
if (dist < -tolerance)
return false;
}
return true;
}
return false;
}
//debugging
virtual char* GetName()const
{
return "Triangle";
}
};
#endif //OBB_TRIANGLE_MINKOWSKI_H
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