Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h

Changeset View

Standalone View

extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h

	Show All 15 Lines
	including commercial applications, and to alter it and redistribute it freely,			including commercial applications, and to alter it and redistribute it freely,
	subject to the following restrictions:			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.			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.			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.			3. This notice may not be removed or altered from any source distribution.
	*/			*/


	#ifndef GIMPACT_TRIANGLE_SHAPE_EX_H			#ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
	#define GIMPACT_TRIANGLE_SHAPE_EX_H			#define GIMPACT_TRIANGLE_SHAPE_EX_H

	#include "BulletCollision/CollisionShapes/btCollisionShape.h"			#include "BulletCollision/CollisionShapes/btCollisionShape.h"
	#include "BulletCollision/CollisionShapes/btTriangleShape.h"			#include "BulletCollision/CollisionShapes/btTriangleShape.h"
	#include "btBoxCollision.h"			#include "btBoxCollision.h"
	#include "btClipPolygon.h"			#include "btClipPolygon.h"
	#include "btGeometryOperations.h"			#include "btGeometryOperations.h"


	#define MAX_TRI_CLIPPING 16			#define MAX_TRI_CLIPPING 16

	//! Structure for collision			//! Structure for collision
	struct GIM_TRIANGLE_CONTACT			struct GIM_TRIANGLE_CONTACT
	{			{
	btScalar m_penetration_depth;			btScalar m_penetration_depth;
	int m_point_count;			int m_point_count;
	btVector4 m_separating_normal;			btVector4 m_separating_normal;
	btVector3 m_points[MAX_TRI_CLIPPING];			btVector3 m_points[MAX_TRI_CLIPPING];

	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)			SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
	{			{
	m_penetration_depth = other.m_penetration_depth;			m_penetration_depth = other.m_penetration_depth;
	m_separating_normal = other.m_separating_normal;			m_separating_normal = other.m_separating_normal;
	m_point_count = other.m_point_count;			m_point_count = other.m_point_count;
	int i = m_point_count;			int i = m_point_count;
	while(i--)			while (i--)
	{			{
	m_points[i] = other.m_points[i];			m_points[i] = other.m_points[i];
	}			}
	}			}

	GIM_TRIANGLE_CONTACT()			GIM_TRIANGLE_CONTACT()
	{			{
	}			}

	GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)			GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
	{			{
	copy_from(other);			copy_from(other);
	}			}

	//! classify points that are closer			//! classify points that are closer
	void merge_points(const btVector4 & plane,			void merge_points(const btVector4& plane,
	btScalar margin, const btVector3 * points, int point_count);			btScalar margin, const btVector3* points, int point_count);

	};			};



	class btPrimitiveTriangle			class btPrimitiveTriangle
	{			{
	public:			public:
	btVector3 m_vertices[3];			btVector3 m_vertices[3];
	btVector4 m_plane;			btVector4 m_plane;
	btScalar m_margin;			btScalar m_margin;
	btScalar m_dummy;			btScalar m_dummy;
	btPrimitiveTriangle():m_margin(0.01f)			btPrimitiveTriangle() : m_margin(0.01f)
	{			{

	}			}


	SIMD_FORCE_INLINE void buildTriPlane()			SIMD_FORCE_INLINE void buildTriPlane()
	{			{
	btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]);			btVector3 normal = (m_vertices[1] - m_vertices[0]).cross(m_vertices[2] - m_vertices[0]);
	normal.normalize();			normal.normalize();
	m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal));			m_plane.setValue(normal[0], normal[1], normal[2], m_vertices[0].dot(normal));
	}			}

	//! Test if triangles could collide			//! Test if triangles could collide
	bool overlap_test_conservative(const btPrimitiveTriangle& other);			bool overlap_test_conservative(const btPrimitiveTriangle& other);

	//! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane			//! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane
	/*!			/*!
	\pre this triangle must have its plane calculated.			\pre this triangle must have its plane calculated.
	*/			*/
	SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane) const			SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4& plane) const
	{			{
	const btVector3 & e0 = m_vertices[edge_index];			const btVector3& e0 = m_vertices[edge_index];
	const btVector3 & e1 = m_vertices[(edge_index+1)%3];			const btVector3& e1 = m_vertices[(edge_index + 1) % 3];
	bt_edge_plane(e0,e1,m_plane,plane);			bt_edge_plane(e0, e1, m_plane, plane);
	}			}

	void applyTransform(const btTransform& t)			void applyTransform(const btTransform& t)
	{			{
	m_vertices[0] = t(m_vertices[0]);			m_vertices[0] = t(m_vertices[0]);
	m_vertices[1] = t(m_vertices[1]);			m_vertices[1] = t(m_vertices[1]);
	m_vertices[2] = t(m_vertices[2]);			m_vertices[2] = t(m_vertices[2]);
	}			}

	//! Clips the triangle against this			//! Clips the triangle against this
	/*!			/*!
	\pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.			\pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.
	\return the number of clipped points			\return the number of clipped points
	*/			*/
	int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points );			int clip_triangle(btPrimitiveTriangle& other, btVector3* clipped_points);

	//! Find collision using the clipping method			//! Find collision using the clipping method
	/*!			/*!
	\pre this triangle and other must have their triangles calculated			\pre this triangle and other must have their triangles calculated
	*/			*/
	bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);			bool find_triangle_collision_clip_method(btPrimitiveTriangle& other, GIM_TRIANGLE_CONTACT& contacts);
	};			};



	//! Helper class for colliding Bullet Triangle Shapes			//! Helper class for colliding Bullet Triangle Shapes
	/*!			/*!
	This class implements a better getAabb method than the previous btTriangleShape class			This class implements a better getAabb method than the previous btTriangleShape class
	*/			*/
	class btTriangleShapeEx: public btTriangleShape			class btTriangleShapeEx : public btTriangleShape
	{			{
	public:			public:

	btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0))			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 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])			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			virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
	{			{
	btVector3 tv0 = t(m_vertices1[0]);			btVector3 tv0 = t(m_vertices1[0]);
	btVector3 tv1 = t(m_vertices1[1]);			btVector3 tv1 = t(m_vertices1[1]);
	btVector3 tv2 = t(m_vertices1[2]);			btVector3 tv2 = t(m_vertices1[2]);

	btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin);			btAABB trianglebox(tv0, tv1, tv2, m_collisionMargin);
	aabbMin = trianglebox.m_min;			aabbMin = trianglebox.m_min;
	aabbMax = trianglebox.m_max;			aabbMax = trianglebox.m_max;
	}			}

	void applyTransform(const btTransform& t)			void applyTransform(const btTransform& t)
	{			{
	m_vertices1[0] = t(m_vertices1[0]);			m_vertices1[0] = t(m_vertices1[0]);
	m_vertices1[1] = t(m_vertices1[1]);			m_vertices1[1] = t(m_vertices1[1]);
	m_vertices1[2] = t(m_vertices1[2]);			m_vertices1[2] = t(m_vertices1[2]);
	}			}

	SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const			SIMD_FORCE_INLINE void buildTriPlane(btVector4& plane) const
	{			{
	btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);			btVector3 normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
	normal.normalize();			normal.normalize();
	plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal));			plane.setValue(normal[0], normal[1], normal[2], m_vertices1[0].dot(normal));
	}			}

	bool overlap_test_conservative(const btTriangleShapeEx& other);			bool overlap_test_conservative(const btTriangleShapeEx& other);
	};			};


	#endif //GIMPACT_TRIANGLE_MESH_SHAPE_H			#endif //GIMPACT_TRIANGLE_MESH_SHAPE_H