1 #ifndef GIM_TRI_COLLISION_H_INCLUDED 2 #define GIM_TRI_COLLISION_H_INCLUDED 42 #define MAX_TRI_CLIPPING 16 77 template<
typename DISTANCE_FUNC,
typename CLASS_PLANE>
82 m_penetration_depth= -1000.0f;
88 for(_k=0;_k<point_count;_k++)
90 GREAL _dist = -distance_func(plane,points[_k]) + margin;
94 if(_dist>m_penetration_depth)
96 m_penetration_depth = _dist;
97 point_indices[0] = _k;
100 else if((_dist+
G_EPSILON)>=m_penetration_depth)
110 m_points[_k] = points[point_indices[_k]];
118 m_separating_normal = plane;
137 return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
152 m_vertices[0] = trans(m_vertices[0]);
153 m_vertices[1] = trans(m_vertices[1]);
154 m_vertices[2] = trans(m_vertices[2]);
159 const btVector3 & e0 = m_vertices[edge_index];
160 const btVector3 & e1 = m_vertices[(edge_index+1)%3];
179 btVector3 xaxis = m_vertices[1] - m_vertices[0];
184 xaxis = zaxis.
cross(xaxis);
187 triangle_transform.
setOrigin(m_vertices[0]);
196 bool collide_triangle_hard_test(
211 GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
216 return collide_triangle_hard_test(other,contact_data);
252 btVector3 _axe1 = m_vertices[1]-m_vertices[0];
253 btVector3 _axe2 = m_vertices[2]-m_vertices[0];
254 btVector3 _vecproj = point - m_vertices[0];
256 GUINT _i2 = (_i1+1)%3;
259 u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1] - _axe1[_i1]*_axe2[_i2]);
260 v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];
264 u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2] - _axe1[_i2]*_axe2[_i1]);
265 v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];
300 this->get_edge_plane(0,tri_normal,edge_plane);
302 if(dist-m_margin>0.0f)
return false;
304 this->get_edge_plane(1,tri_normal,edge_plane);
306 if(dist-m_margin>0.0f)
return false;
308 this->get_edge_plane(2,tri_normal,edge_plane);
310 if(dist-m_margin>0.0f)
return false;
323 btVector3 dif1 = m_vertices[1] - m_vertices[0];
324 btVector3 dif2 = m_vertices[2] - m_vertices[0];
326 faceplane[3] = m_vertices[0].
dot(faceplane);
330 if(res == 0)
return false;
331 if(! is_point_inside(pout,faceplane))
return false;
335 triangle_normal.
setValue(-faceplane[0],-faceplane[1],-faceplane[2]);
339 triangle_normal.
setValue(faceplane[0],faceplane[1],faceplane[2]);
356 btVector3 dif1 = m_vertices[1] - m_vertices[0];
357 btVector3 dif2 = m_vertices[2] - m_vertices[0];
359 faceplane[3] = m_vertices[0].
dot(faceplane);
363 if(res != 1)
return false;
365 if(!is_point_inside(pout,faceplane))
return false;
367 triangle_normal.
setValue(faceplane[0],faceplane[1],faceplane[2]);
379 #endif // GIM_TRI_COLLISION_H_INCLUDED
GUINT LINE_PLANE_COLLISION(const CLASS_PLANE &plane, const CLASS_POINT &vDir, const CLASS_POINT &vPoint, CLASS_POINT &pout, T &tparam, T tmin, T tmax)
line collision
#define TRIANGLE_PLANE(v1, v2, v3, plane)
plane is a vec4f
#define EDGE_PLANE(e1, e2, n, plane)
Calc a plane from an edge an a normal. plane is a vec4f.
bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
is point in triangle beam?
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
void apply_transform(const btTransform &trans)
bool ray_collision_front_side(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
one direccion ray collision
#define SIMD_FORCE_INLINE
#define MAT_SET_X(mat, vec3)
Get the triple(3) col of a transform matrix.
bool get_uv_parameters(const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const
bool has_collision(const GIM_AABB &other) const
This function calcs the distance from a 3D plane.
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btScalar dot(const btVector3 &v) const
Return the dot product.
Class for colliding triangles.
#define MAT_SET_Y(mat, vec3)
Get the triple(3) col of a transform matrix.
void get_plane(btVector4 &plane) const
btVector3 can be used to represent 3D points and vectors.
void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
bool collide_triangle(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test boxes before doing hard test.
#define DISTANCE_PLANE_POINT(plane, point)
void get_triangle_transform(btTransform &triangle_transform) const
Gets the relative transformation of this triangle.
#define VEC_CROSS(c, a, b)
Vector cross.
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
bool ray_collision(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
Bidireccional ray collision.
#define MAT_SET_Z(mat, vec3)
Get the triple(3) col of a transform matrix.
#define TRIANGLE_NORMAL(v1, v2, v3, n)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define VEC_NORMALIZE(a)
Vector length.
void get_normal(btVector3 &normal) const
btScalar btFabs(btScalar x)