78696277c342bd7a13c6a456e7777ff492c91255
[blender.git] / extern / bullet2 / src / BulletCollision / Gimpact / btTriangleShapeEx.cpp
1 /*! \file btGImpactTriangleShape.h
2 \author Francisco Le\7fn N├čjera
3 */
4 /*
5 This source file is part of GIMPACT Library.
6
7 For the latest info, see http://gimpact.sourceforge.net/
8
9 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10 email: projectileman@yahoo.com
11
12
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:
18
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.
22 */
23
24 #include "btTriangleShapeEx.h"
25
26
27
28 void GIM_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
65 bool 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
89 int 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
126 bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_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     GIM_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     GIM_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
188 bool 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