Bullet Collision Detection & Physics Library
gim_tri_collision.h
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1#ifndef GIM_TRI_COLLISION_H_INCLUDED
2#define GIM_TRI_COLLISION_H_INCLUDED
3
7/*
8-----------------------------------------------------------------------------
9This source file is part of GIMPACT Library.
10
11For the latest info, see http://gimpact.sourceforge.net/
12
13Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
14email: projectileman@yahoo.com
15
16 This library is free software; you can redistribute it and/or
17 modify it under the terms of EITHER:
18 (1) The GNU Lesser General Public License as published by the Free
19 Software Foundation; either version 2.1 of the License, or (at
20 your option) any later version. The text of the GNU Lesser
21 General Public License is included with this library in the
22 file GIMPACT-LICENSE-LGPL.TXT.
23 (2) The BSD-style license that is included with this library in
24 the file GIMPACT-LICENSE-BSD.TXT.
25 (3) The zlib/libpng license that is included with this library in
26 the file GIMPACT-LICENSE-ZLIB.TXT.
27
28 This library is distributed in the hope that it will be useful,
29 but WITHOUT ANY WARRANTY; without even the implied warranty of
30 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
31 GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
32
33-----------------------------------------------------------------------------
34*/
35
36#include "gim_box_collision.h"
37#include "gim_clip_polygon.h"
38
39
40
41#ifndef MAX_TRI_CLIPPING
42#define MAX_TRI_CLIPPING 16
43#endif
44
47{
52
54 {
59 while(i--)
60 {
61 m_points[i] = other.m_points[i];
62 }
63 }
64
66 {
67 }
68
70 {
71 copy_from(other);
72 }
73
74
75
76
78 template<typename DISTANCE_FUNC,typename CLASS_PLANE>
79 SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane,
80 GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func)
81 {
82 m_point_count = 0;
83 m_penetration_depth= -1000.0f;
84
85 GUINT point_indices[MAX_TRI_CLIPPING];
86
87 GUINT _k;
88
89 for(_k=0;_k<point_count;_k++)
90 {
91 GREAL _dist = -distance_func(plane,points[_k]) + margin;
92
93 if(_dist>=0.0f)
94 {
95 if(_dist>m_penetration_depth)
96 {
97 m_penetration_depth = _dist;
98 point_indices[0] = _k;
100 }
101 else if((_dist+G_EPSILON)>=m_penetration_depth)
102 {
103 point_indices[m_point_count] = _k;
105 }
106 }
107 }
108
109 for( _k=0;_k<m_point_count;_k++)
110 {
111 m_points[_k] = points[point_indices[_k]];
112 }
113 }
114
116 SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin,
117 const btVector3 * points, GUINT point_count)
118 {
119 m_separating_normal = plane;
120 mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC());
121 }
122};
123
124
127{
128public:
131
133 {
134 }
135
137 {
139 }
140
142 {
144 }
145
147 {
149 }
150
152 {
153 m_vertices[0] = trans(m_vertices[0]);
154 m_vertices[1] = trans(m_vertices[1]);
155 m_vertices[2] = trans(m_vertices[2]);
156 }
157
158 SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane) const
159 {
160 const btVector3 & e0 = m_vertices[edge_index];
161 const btVector3 & e1 = m_vertices[(edge_index+1)%3];
162 EDGE_PLANE(e0,e1,triangle_normal,plane);
163 }
164
166
172 SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform) const
173 {
174 btMatrix3x3 & matrix = triangle_transform.getBasis();
175
176 btVector3 zaxis;
177 get_normal(zaxis);
178 MAT_SET_Z(matrix,zaxis);
179
180 btVector3 xaxis = m_vertices[1] - m_vertices[0];
181 VEC_NORMALIZE(xaxis);
182 MAT_SET_X(matrix,xaxis);
183
184 //y axis
185 xaxis = zaxis.cross(xaxis);
186 MAT_SET_Y(matrix,xaxis);
187
188 triangle_transform.setOrigin(m_vertices[0]);
189 }
190
191
193
198 const GIM_TRIANGLE & other,
199 GIM_TRIANGLE_CONTACT_DATA & contact_data) const;
200
202
208 const GIM_TRIANGLE & other,
209 GIM_TRIANGLE_CONTACT_DATA & contact_data) const
210 {
211 //test box collisioin
213 GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin);
214 if(!boxu.has_collision(boxv)) return false;
215
216 //do hard test
217 return collide_triangle_hard_test(other,contact_data);
218 }
219
249 const btVector3 & point,
250 const btVector3 & tri_plane,
251 GREAL & u, GREAL & v) const
252 {
253 btVector3 _axe1 = m_vertices[1]-m_vertices[0];
254 btVector3 _axe2 = m_vertices[2]-m_vertices[0];
255 btVector3 _vecproj = point - m_vertices[0];
256 GUINT _i1 = (tri_plane.closestAxis()+1)%3;
257 GUINT _i2 = (_i1+1)%3;
258 if(btFabs(_axe2[_i2])<G_EPSILON)
259 {
260 u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1] - _axe1[_i1]*_axe2[_i2]);
261 v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];
262 }
263 else
264 {
265 u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2] - _axe1[_i2]*_axe2[_i1]);
266 v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];
267 }
268
269 if(u<-G_EPSILON)
270 {
271 return false;
272 }
273 else if(v<-G_EPSILON)
274 {
275 return false;
276 }
277 else
278 {
279 btScalar sumuv;
280 sumuv = u+v;
281 if(sumuv<-G_EPSILON)
282 {
283 return false;
284 }
285 else if(sumuv-1.0f>G_EPSILON)
286 {
287 return false;
288 }
289 }
290 return true;
291 }
292
294
297 SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const
298 {
299 //Test with edge 0
300 btVector4 edge_plane;
301 this->get_edge_plane(0,tri_normal,edge_plane);
302 GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point);
303 if(dist-m_margin>0.0f) return false; // outside plane
304
305 this->get_edge_plane(1,tri_normal,edge_plane);
306 dist = DISTANCE_PLANE_POINT(edge_plane,point);
307 if(dist-m_margin>0.0f) return false; // outside plane
308
309 this->get_edge_plane(2,tri_normal,edge_plane);
310 dist = DISTANCE_PLANE_POINT(edge_plane,point);
311 if(dist-m_margin>0.0f) return false; // outside plane
312 return true;
313 }
314
315
318 const btVector3 & vPoint,
319 const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
320 GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
321 {
322 btVector4 faceplane;
323 {
324 btVector3 dif1 = m_vertices[1] - m_vertices[0];
325 btVector3 dif2 = m_vertices[2] - m_vertices[0];
326 VEC_CROSS(faceplane,dif1,dif2);
327 faceplane[3] = m_vertices[0].dot(faceplane);
328 }
329
330 GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
331 if(res == 0) return false;
332 if(! is_point_inside(pout,faceplane)) return false;
333
334 if(res==2) //invert normal
335 {
336 triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]);
337 }
338 else
339 {
340 triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
341 }
342
343 VEC_NORMALIZE(triangle_normal);
344
345 return true;
346 }
347
348
351 const btVector3 & vPoint,
352 const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
353 GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
354 {
355 btVector4 faceplane;
356 {
357 btVector3 dif1 = m_vertices[1] - m_vertices[0];
358 btVector3 dif2 = m_vertices[2] - m_vertices[0];
359 VEC_CROSS(faceplane,dif1,dif2);
360 faceplane[3] = m_vertices[0].dot(faceplane);
361 }
362
363 GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
364 if(res != 1) return false;
365
366 if(!is_point_inside(pout,faceplane)) return false;
367
368 triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
369
370 VEC_NORMALIZE(triangle_normal);
371
372 return true;
373 }
374
375};
376
377
378
379
380#endif // GIM_TRI_COLLISION_H_INCLUDED
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btScalar btFabs(btScalar x)
Definition: btScalar.h:475
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
This function calcs the distance from a 3D plane.
Axis aligned box.
bool has_collision(const GIM_AABB &other) const
Class for colliding triangles.
void apply_transform(const btTransform &trans)
btVector3 m_vertices[3]
bool get_uv_parameters(const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const
bool collide_triangle_hard_test(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test triangles by finding separating axis.
GIM_AABB get_box() const
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
void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
void get_triangle_transform(btTransform &triangle_transform) const
Gets the relative transformation of this triangle.
bool ray_collision(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
Bidireccional ray collision.
void get_normal(btVector3 &normal) const
bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
is point in triangle beam?
bool collide_triangle(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test boxes before doing hard test.
void get_plane(btVector4 &plane) const
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:150
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
int closestAxis() const
Definition: btVector3.h:497
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
Definition: btVector3.h:389
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:235
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
#define DISTANCE_PLANE_POINT(plane, point)
#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.
#define TRIANGLE_NORMAL(v1, v2, v3, n)
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 MAT_SET_X(mat, vec3)
Get the triple(3) col of a transform matrix.
#define MAT_SET_Z(mat, vec3)
Get the triple(3) col of a transform matrix.
#define VEC_CROSS(c, a, b)
Vector cross.
#define VEC_NORMALIZE(a)
Vector length.
#define MAT_SET_Y(mat, vec3)
Get the triple(3) col of a transform matrix.
#define GREAL
Definition: gim_math.h:39
#define GUINT
Definition: gim_math.h:42
#define G_REAL_INFINITY
Definition: gim_math.h:58
#define G_EPSILON
Definition: gim_math.h:60
#define MAX_TRI_CLIPPING
Structure for collision.
btVector3 m_points[MAX_TRI_CLIPPING]
void mergepoints_generic(const CLASS_PLANE &plane, GREAL margin, const btVector3 *points, GUINT point_count, DISTANCE_FUNC distance_func)
classify points that are closer
void copy_from(const GIM_TRIANGLE_CONTACT_DATA &other)
GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA &other)
void merge_points(const btVector4 &plane, GREAL margin, const btVector3 *points, GUINT point_count)
classify points that are closer