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source: code/branches/physics/src/bullet/BulletCollision/GIMPACT/btTriangleShapeEx.cpp @ 2056

Last change on this file since 2056 was 1963, checked in by rgrieder, 16 years ago

Added Bullet physics engine.

  • Property svn:eol-style set to native
File size: 6.1 KB
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1/*! \file btGImpactTriangleShape.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#include "btTriangleShapeEx.h"
25
26
27
28void BT_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
29                                       btScalar margin, const btVector3 * points, int point_count)
30{
31    m_point_count = 0;
32    m_penetration_depth= -1000.0f;
33
34    int point_indices[MAX_TRI_CLIPPING];
35
36        int _k;
37
38    for ( _k=0;_k<point_count;_k++)
39    {
40        btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin;
41
42        if (_dist>=0.0f)
43        {
44            if (_dist>m_penetration_depth)
45            {
46                m_penetration_depth = _dist;
47                point_indices[0] = _k;
48                m_point_count=1;
49            }
50            else if ((_dist+SIMD_EPSILON)>=m_penetration_depth)
51            {
52                point_indices[m_point_count] = _k;
53                m_point_count++;
54            }
55        }
56    }
57
58    for ( _k=0;_k<m_point_count;_k++)
59    {
60        m_points[_k] = points[point_indices[_k]];
61    }
62}
63
64///class btPrimitiveTriangle
65bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other)
66{
67    btScalar total_margin = m_margin + other.m_margin;
68    // classify points on other triangle
69    btScalar dis0 = bt_distance_point_plane(m_plane,other.m_vertices[0]) - total_margin;
70
71    btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin;
72
73    btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin;
74
75    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
76
77    // classify points on this triangle
78    dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin;
79
80    dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin;
81
82    dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin;
83
84    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
85
86    return true;
87}
88
89int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points )
90{
91    // edge 0
92
93    btVector3 temp_points[MAX_TRI_CLIPPING];
94
95
96    btVector4 edgeplane;
97
98    get_edge_plane(0,edgeplane);
99
100
101    int clipped_count = bt_plane_clip_triangle(
102                            edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points);
103
104    if (clipped_count == 0) return 0;
105
106    btVector3 temp_points1[MAX_TRI_CLIPPING];
107
108
109    // edge 1
110    get_edge_plane(1,edgeplane);
111
112
113    clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1);
114
115    if (clipped_count == 0) return 0;
116
117    // edge 2
118    get_edge_plane(2,edgeplane);
119
120    clipped_count = bt_plane_clip_polygon(
121                        edgeplane,temp_points1,clipped_count,clipped_points);
122
123    return clipped_count;
124}
125
126bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts)
127{
128    btScalar margin = m_margin + other.m_margin;
129
130    btVector3 clipped_points[MAX_TRI_CLIPPING];
131    int clipped_count;
132    //create planes
133    // plane v vs U points
134
135    BT_TRIANGLE_CONTACT contacts1;
136
137    contacts1.m_separating_normal = m_plane;
138
139
140    clipped_count = clip_triangle(other,clipped_points);
141
142    if (clipped_count == 0 )
143    {
144        return false;//Reject
145    }
146
147    //find most deep interval face1
148    contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
149    if (contacts1.m_point_count == 0) return false; // too far
150    //Normal pointing to this triangle
151    contacts1.m_separating_normal *= -1.f;
152
153
154    //Clip tri1 by tri2 edges
155    BT_TRIANGLE_CONTACT contacts2;
156    contacts2.m_separating_normal = other.m_plane;
157
158    clipped_count = other.clip_triangle(*this,clipped_points);
159
160    if (clipped_count == 0 )
161    {
162        return false;//Reject
163    }
164
165    //find most deep interval face1
166    contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
167    if (contacts2.m_point_count == 0) return false; // too far
168
169
170
171
172    ////check most dir for contacts
173    if (contacts2.m_penetration_depth<contacts1.m_penetration_depth)
174    {
175        contacts.copy_from(contacts2);
176    }
177    else
178    {
179        contacts.copy_from(contacts1);
180    }
181    return true;
182}
183
184
185
186///class btTriangleShapeEx: public btTriangleShape
187
188bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other)
189{
190    btScalar total_margin = getMargin() + other.getMargin();
191
192    btVector4 plane0;
193    buildTriPlane(plane0);
194    btVector4 plane1;
195    other.buildTriPlane(plane1);
196
197    // classify points on other triangle
198    btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin;
199
200    btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin;
201
202    btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin;
203
204    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
205
206    // classify points on this triangle
207    dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin;
208
209    dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin;
210
211    dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin;
212
213    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
214
215    return true;
216}
217
218
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