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source: code/trunk/src/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h @ 3021

Last change on this file since 3021 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

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1/*! \file btGImpactShape.h
2\author Francisco Len Nßjera
3*/
4/*
5This source file is part of GIMPACT Library.
6
7For the latest info, see http://gimpact.sourceforge.net/
8
9Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10email: projectileman@yahoo.com
11
12
13This software is provided 'as-is', without any express or implied warranty.
14In no event will the authors be held liable for any damages arising from the use of this software.
15Permission is granted to anyone to use this software for any purpose,
16including commercial applications, and to alter it and redistribute it freely,
17subject to the following restrictions:
18
191. 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.
202. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
213. This notice may not be removed or altered from any source distribution.
22*/
23
24
25#ifndef TRIANGLE_SHAPE_EX_H
26#define TRIANGLE_SHAPE_EX_H
27
28#include "BulletCollision/CollisionShapes/btCollisionShape.h"
29#include "BulletCollision/CollisionShapes/btTriangleShape.h"
30#include "btBoxCollision.h"
31#include "btClipPolygon.h"
32#include "btGeometryOperations.h"
33
34
35#define MAX_TRI_CLIPPING 16
36
37//! Structure for collision
38struct GIM_TRIANGLE_CONTACT
39{
40    btScalar m_penetration_depth;
41    int m_point_count;
42    btVector4 m_separating_normal;
43    btVector3 m_points[MAX_TRI_CLIPPING];
44
45        SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
46        {
47                m_penetration_depth = other.m_penetration_depth;
48                m_separating_normal = other.m_separating_normal;
49                m_point_count = other.m_point_count;
50                int i = m_point_count;
51                while(i--)
52                {
53                        m_points[i] = other.m_points[i];
54                }
55        }
56
57        GIM_TRIANGLE_CONTACT()
58        {
59        }
60
61        GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
62        {
63                copy_from(other);
64        }
65
66    //! classify points that are closer
67    void merge_points(const btVector4 & plane,
68                                btScalar margin, const btVector3 * points, int point_count);
69
70};
71
72
73
74class btPrimitiveTriangle
75{
76public:
77        btVector3 m_vertices[3];
78        btVector4 m_plane;
79        btScalar m_margin;
80        btScalar m_dummy;
81        btPrimitiveTriangle():m_margin(0.01f)
82        {
83
84        }
85
86
87        SIMD_FORCE_INLINE void buildTriPlane()
88        {
89                btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]);
90                normal.normalize();
91                m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal));
92        }
93
94        //! Test if triangles could collide
95        bool overlap_test_conservative(const btPrimitiveTriangle& other);
96
97        //! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane
98        /*!
99        \pre this triangle must have its plane calculated.
100        */
101        SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane)  const
102    {
103                const btVector3 & e0 = m_vertices[edge_index];
104                const btVector3 & e1 = m_vertices[(edge_index+1)%3];
105                bt_edge_plane(e0,e1,m_plane,plane);
106    }
107
108    void applyTransform(const btTransform& t)
109        {
110                m_vertices[0] = t(m_vertices[0]);
111                m_vertices[1] = t(m_vertices[1]);
112                m_vertices[2] = t(m_vertices[2]);
113        }
114
115        //! Clips the triangle against this
116        /*!
117        \pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.
118        \return the number of clipped points
119        */
120    int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points );
121
122        //! Find collision using the clipping method
123        /*!
124        \pre this triangle and other must have their triangles calculated
125        */
126    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
127};
128
129
130
131//! Helper class for colliding Bullet Triangle Shapes
132/*!
133This class implements a better getAabb method than the previous btTriangleShape class
134*/
135class btTriangleShapeEx: public btTriangleShape
136{
137public:
138
139        btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0))
140        {
141        }
142
143        btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2): btTriangleShape(p0,p1,p2)
144        {
145        }
146
147        btTriangleShapeEx(const btTriangleShapeEx & other):     btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2])
148        {
149        }
150
151        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
152        {
153                btVector3 tv0 = t(m_vertices1[0]);
154                btVector3 tv1 = t(m_vertices1[1]);
155                btVector3 tv2 = t(m_vertices1[2]);
156
157                btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin);
158                aabbMin = trianglebox.m_min;
159                aabbMax = trianglebox.m_max;
160        }
161
162        void applyTransform(const btTransform& t)
163        {
164                m_vertices1[0] = t(m_vertices1[0]);
165                m_vertices1[1] = t(m_vertices1[1]);
166                m_vertices1[2] = t(m_vertices1[2]);
167        }
168
169        SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const
170        {
171                btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
172                normal.normalize();
173                plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal));
174        }
175
176        bool overlap_test_conservative(const btTriangleShapeEx& other);
177};
178
179
180#endif //TRIANGLE_MESH_SHAPE_H
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