1 /*! \file btGImpactTriangleShape.h
2 \author Francisco Leon Najera
5 This source file is part of GIMPACT Library.
7 For the latest info, see http://gimpact.sourceforge.net/
9 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10 email: projectileman@yahoo.com
13 This software is provided 'as-is', without any express or implied warranty.
14 In no event will the authors be held liable for any damages arising from the use of this software.
15 Permission is granted to anyone to use this software for any purpose,
16 including commercial applications, and to alter it and redistribute it freely,
17 subject to the following restrictions:
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.
20 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
21 3. This notice may not be removed or altered from any source distribution.
24 #include "btTriangleShapeEx.h"
28 void GIM_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
29 btScalar margin, const btVector3 * points, int point_count)
32 m_penetration_depth= -1000.0f;
34 int point_indices[MAX_TRI_CLIPPING];
38 for ( _k=0;_k<point_count;_k++)
40 btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin;
44 if (_dist>m_penetration_depth)
46 m_penetration_depth = _dist;
47 point_indices[0] = _k;
50 else if ((_dist+SIMD_EPSILON)>=m_penetration_depth)
52 point_indices[m_point_count] = _k;
58 for ( _k=0;_k<m_point_count;_k++)
60 m_points[_k] = points[point_indices[_k]];
64 ///class btPrimitiveTriangle
65 bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other)
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;
71 btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin;
73 btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin;
75 if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
77 // classify points on this triangle
78 dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin;
80 dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin;
82 dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin;
84 if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
89 int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points )
93 btVector3 temp_points[MAX_TRI_CLIPPING];
98 get_edge_plane(0,edgeplane);
101 int clipped_count = bt_plane_clip_triangle(
102 edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points);
104 if (clipped_count == 0) return 0;
106 btVector3 temp_points1[MAX_TRI_CLIPPING];
110 get_edge_plane(1,edgeplane);
113 clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1);
115 if (clipped_count == 0) return 0;
118 get_edge_plane(2,edgeplane);
120 clipped_count = bt_plane_clip_polygon(
121 edgeplane,temp_points1,clipped_count,clipped_points);
123 return clipped_count;
126 bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts)
128 btScalar margin = m_margin + other.m_margin;
130 btVector3 clipped_points[MAX_TRI_CLIPPING];
133 // plane v vs U points
135 GIM_TRIANGLE_CONTACT contacts1;
137 contacts1.m_separating_normal = m_plane;
140 clipped_count = clip_triangle(other,clipped_points);
142 if (clipped_count == 0 )
144 return false;//Reject
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;
154 //Clip tri1 by tri2 edges
155 GIM_TRIANGLE_CONTACT contacts2;
156 contacts2.m_separating_normal = other.m_plane;
158 clipped_count = other.clip_triangle(*this,clipped_points);
160 if (clipped_count == 0 )
162 return false;//Reject
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
172 ////check most dir for contacts
173 if (contacts2.m_penetration_depth<contacts1.m_penetration_depth)
175 contacts.copy_from(contacts2);
179 contacts.copy_from(contacts1);
186 ///class btTriangleShapeEx: public btTriangleShape
188 bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other)
190 btScalar total_margin = getMargin() + other.getMargin();
193 buildTriPlane(plane0);
195 other.buildTriPlane(plane1);
197 // classify points on other triangle
198 btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin;
200 btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin;
202 btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin;
204 if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
206 // classify points on this triangle
207 dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin;
209 dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin;
211 dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin;
213 if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;