dali-physics/third-party/bullet3/src/BulletCollision/CollisionShapes/btTriangleShape.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 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.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
  17 #define BT_OBB_TRIANGLE_MINKOWSKI_H
  18
  19 #include "btConvexShape.h"
  20 #include "btBoxShape.h"
  21
  22 ATTRIBUTE_ALIGNED16(class)
  23 btTriangleShape : public btPolyhedralConvexShape
  24 {
  25 public:
  26         BT_DECLARE_ALIGNED_ALLOCATOR();
  27
  28         btVector3 m_vertices1[3];
  29
  30         virtual int getNumVertices() const
  31         {
  32                 return 3;
  33         }
  34
  35         btVector3& getVertexPtr(int index)
  36         {
  37                 return m_vertices1[index];
  38         }
  39
  40         const btVector3& getVertexPtr(int index) const
  41         {
  42                 return m_vertices1[index];
  43         }
  44         virtual void getVertex(int index, btVector3& vert) const
  45         {
  46                 vert = m_vertices1[index];
  47         }
  48
  49         virtual int getNumEdges() const
  50         {
  51                 return 3;
  52         }
  53
  54         virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
  55         {
  56                 getVertex(i, pa);
  57                 getVertex((i + 1) % 3, pb);
  58         }
  59
  60         virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
  61         {
  62                 //              btAssert(0);
  63                 getAabbSlow(t, aabbMin, aabbMax);
  64         }
  65
  66         btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir) const
  67         {
  68                 btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
  69                 return m_vertices1[dots.maxAxis()];
  70         }
  71
  72         virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
  73         {
  74                 for (int i = 0; i < numVectors; i++)
  75                 {
  76                         const btVector3& dir = vectors[i];
  77                         btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
  78                         supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
  79                 }
  80         }
  81
  82         btTriangleShape() : btPolyhedralConvexShape()
  83         {
  84                 m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
  85         }
  86
  87         btTriangleShape(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btPolyhedralConvexShape()
  88         {
  89                 m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
  90                 m_vertices1[0] = p0;
  91                 m_vertices1[1] = p1;
  92                 m_vertices1[2] = p2;
  93         }
  94
  95         virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
  96         {
  97                 getPlaneEquation(i, planeNormal, planeSupport);
  98         }
  99
 100         virtual int getNumPlanes() const
 101         {
 102                 return 1;
 103         }
 104
 105         void calcNormal(btVector3 & normal) const
 106         {
 107                 normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
 108                 normal.normalize();
 109         }
 110
 111         virtual void getPlaneEquation(int i, btVector3& planeNormal, btVector3& planeSupport) const
 112         {
 113                 (void)i;
 114                 calcNormal(planeNormal);
 115                 planeSupport = m_vertices1[0];
 116         }
 117
 118         virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
 119         {
 120                 (void)mass;
 121                 btAssert(0);
 122                 inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
 123         }
 124
 125         virtual bool isInside(const btVector3& pt, btScalar tolerance) const
 126         {
 127                 btVector3 normal;
 128                 calcNormal(normal);
 129                 //distance to plane
 130                 btScalar dist = pt.dot(normal);
 131                 btScalar planeconst = m_vertices1[0].dot(normal);
 132                 dist -= planeconst;
 133                 if (dist >= -tolerance && dist <= tolerance)
 134                 {
 135                         //inside check on edge-planes
 136                         int i;
 137                         for (i = 0; i < 3; i++)
 138                         {
 139                                 btVector3 pa, pb;
 140                                 getEdge(i, pa, pb);
 141                                 btVector3 edge = pb - pa;
 142                                 btVector3 edgeNormal = edge.cross(normal);
 143                                 edgeNormal.normalize();
 144                                 btScalar dist = pt.dot(edgeNormal);
 145                                 btScalar edgeConst = pa.dot(edgeNormal);
 146                                 dist -= edgeConst;
 147                                 if (dist < -tolerance)
 148                                         return false;
 149                         }
 150
 151                         return true;
 152                 }
 153
 154                 return false;
 155         }
 156         //debugging
 157         virtual const char* getName() const
 158         {
 159                 return "Triangle";
 160         }
 161
 162         virtual int getNumPreferredPenetrationDirections() const
 163         {
 164                 return 2;
 165         }
 166
 167         virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
 168         {
 169                 calcNormal(penetrationVector);
 170                 if (index)
 171                         penetrationVector *= btScalar(-1.);
 172         }
 173 };
 174
 175 #endif  //BT_OBB_TRIANGLE_MINKOWSKI_H