[1963] | 1 | /*! \file btGImpactTriangleShape.h |
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| 2 | \author Francisco Len Nßjera |
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| 3 | */ |
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| 4 | /* |
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| 5 | This source file is part of GIMPACT Library. |
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| 6 | |
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| 7 | For the latest info, see http://gimpact.sourceforge.net/ |
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| 8 | |
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| 9 | Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. |
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| 10 | email: projectileman@yahoo.com |
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| 11 | |
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| 12 | |
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| 13 | This software is provided 'as-is', without any express or implied warranty. |
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| 14 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 15 | Permission is granted to anyone to use this software for any purpose, |
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| 16 | including commercial applications, and to alter it and redistribute it freely, |
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| 17 | subject to the following restrictions: |
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| 18 | |
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| 19 | 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. |
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| 20 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 21 | 3. This notice may not be removed or altered from any source distribution. |
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| 22 | */ |
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| 23 | |
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| 24 | #include "btTriangleShapeEx.h" |
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| 25 | |
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| 26 | |
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| 27 | |
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| 28 | void BT_TRIANGLE_CONTACT::merge_points(const btVector4 & plane, |
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| 29 | btScalar margin, const btVector3 * points, int point_count) |
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| 30 | { |
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| 31 | m_point_count = 0; |
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| 32 | m_penetration_depth= -1000.0f; |
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| 33 | |
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| 34 | int point_indices[MAX_TRI_CLIPPING]; |
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| 35 | |
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| 36 | int _k; |
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| 37 | |
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| 38 | for ( _k=0;_k<point_count;_k++) |
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| 39 | { |
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| 40 | btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin; |
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| 41 | |
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| 42 | if (_dist>=0.0f) |
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| 43 | { |
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| 44 | if (_dist>m_penetration_depth) |
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| 45 | { |
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| 46 | m_penetration_depth = _dist; |
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| 47 | point_indices[0] = _k; |
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| 48 | m_point_count=1; |
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| 49 | } |
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| 50 | else if ((_dist+SIMD_EPSILON)>=m_penetration_depth) |
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| 51 | { |
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| 52 | point_indices[m_point_count] = _k; |
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| 53 | m_point_count++; |
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| 54 | } |
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| 55 | } |
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| 56 | } |
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| 57 | |
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| 58 | for ( _k=0;_k<m_point_count;_k++) |
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| 59 | { |
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| 60 | m_points[_k] = points[point_indices[_k]]; |
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| 61 | } |
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| 62 | } |
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| 63 | |
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| 64 | ///class btPrimitiveTriangle |
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| 65 | bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other) |
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| 66 | { |
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| 67 | btScalar total_margin = m_margin + other.m_margin; |
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| 68 | // classify points on other triangle |
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| 69 | btScalar dis0 = bt_distance_point_plane(m_plane,other.m_vertices[0]) - total_margin; |
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| 70 | |
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| 71 | btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin; |
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| 72 | |
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| 73 | btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin; |
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| 74 | |
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| 75 | if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; |
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| 76 | |
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| 77 | // classify points on this triangle |
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| 78 | dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin; |
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| 79 | |
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| 80 | dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin; |
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| 81 | |
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| 82 | dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin; |
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| 83 | |
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| 84 | if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; |
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| 85 | |
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| 86 | return true; |
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| 87 | } |
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| 88 | |
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| 89 | int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points ) |
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| 90 | { |
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| 91 | // edge 0 |
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| 92 | |
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| 93 | btVector3 temp_points[MAX_TRI_CLIPPING]; |
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| 94 | |
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| 95 | |
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| 96 | btVector4 edgeplane; |
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| 97 | |
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| 98 | get_edge_plane(0,edgeplane); |
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| 99 | |
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| 100 | |
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| 101 | int clipped_count = bt_plane_clip_triangle( |
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| 102 | edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points); |
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| 103 | |
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| 104 | if (clipped_count == 0) return 0; |
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| 105 | |
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| 106 | btVector3 temp_points1[MAX_TRI_CLIPPING]; |
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| 107 | |
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| 108 | |
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| 109 | // edge 1 |
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| 110 | get_edge_plane(1,edgeplane); |
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| 111 | |
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| 112 | |
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| 113 | clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1); |
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| 114 | |
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| 115 | if (clipped_count == 0) return 0; |
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| 116 | |
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| 117 | // edge 2 |
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| 118 | get_edge_plane(2,edgeplane); |
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| 119 | |
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| 120 | clipped_count = bt_plane_clip_polygon( |
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| 121 | edgeplane,temp_points1,clipped_count,clipped_points); |
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| 122 | |
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| 123 | return clipped_count; |
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| 124 | } |
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| 125 | |
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| 126 | bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts) |
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| 127 | { |
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| 128 | btScalar margin = m_margin + other.m_margin; |
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| 129 | |
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| 130 | btVector3 clipped_points[MAX_TRI_CLIPPING]; |
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| 131 | int clipped_count; |
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| 132 | //create planes |
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| 133 | // plane v vs U points |
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| 134 | |
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| 135 | BT_TRIANGLE_CONTACT contacts1; |
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| 136 | |
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| 137 | contacts1.m_separating_normal = m_plane; |
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| 138 | |
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| 139 | |
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| 140 | clipped_count = clip_triangle(other,clipped_points); |
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| 141 | |
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| 142 | if (clipped_count == 0 ) |
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| 143 | { |
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| 144 | return false;//Reject |
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| 145 | } |
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| 146 | |
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| 147 | //find most deep interval face1 |
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| 148 | contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); |
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| 149 | if (contacts1.m_point_count == 0) return false; // too far |
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| 150 | //Normal pointing to this triangle |
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| 151 | contacts1.m_separating_normal *= -1.f; |
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| 152 | |
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| 153 | |
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| 154 | //Clip tri1 by tri2 edges |
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| 155 | BT_TRIANGLE_CONTACT contacts2; |
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| 156 | contacts2.m_separating_normal = other.m_plane; |
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| 157 | |
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| 158 | clipped_count = other.clip_triangle(*this,clipped_points); |
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| 159 | |
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| 160 | if (clipped_count == 0 ) |
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| 161 | { |
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| 162 | return false;//Reject |
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| 163 | } |
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| 164 | |
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| 165 | //find most deep interval face1 |
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| 166 | contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); |
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| 167 | if (contacts2.m_point_count == 0) return false; // too far |
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| 168 | |
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| 169 | |
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| 170 | |
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| 171 | |
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| 172 | ////check most dir for contacts |
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| 173 | if (contacts2.m_penetration_depth<contacts1.m_penetration_depth) |
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| 174 | { |
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| 175 | contacts.copy_from(contacts2); |
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| 176 | } |
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| 177 | else |
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| 178 | { |
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| 179 | contacts.copy_from(contacts1); |
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| 180 | } |
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| 181 | return true; |
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| 182 | } |
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| 183 | |
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| 184 | |
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| 185 | |
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| 186 | ///class btTriangleShapeEx: public btTriangleShape |
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| 187 | |
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| 188 | bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other) |
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| 189 | { |
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| 190 | btScalar total_margin = getMargin() + other.getMargin(); |
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| 191 | |
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| 192 | btVector4 plane0; |
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| 193 | buildTriPlane(plane0); |
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| 194 | btVector4 plane1; |
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| 195 | other.buildTriPlane(plane1); |
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| 196 | |
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| 197 | // classify points on other triangle |
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| 198 | btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin; |
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| 199 | |
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| 200 | btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin; |
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| 201 | |
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| 202 | btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin; |
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| 203 | |
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| 204 | if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; |
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| 205 | |
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| 206 | // classify points on this triangle |
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| 207 | dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin; |
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| 208 | |
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| 209 | dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin; |
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| 210 | |
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| 211 | dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin; |
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| 212 | |
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| 213 | if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; |
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| 214 | |
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| 215 | return true; |
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| 216 | } |
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| 217 | |
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| 218 | |
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