Blender  V3.3
btTriangleShape.h
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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 
24 {
25 public:
27 
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 
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 
83  {
84  m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
85  }
86 
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 
106  {
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  {
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 
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
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@ TRIANGLE_SHAPE_PROXYTYPE
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
btPolyhedralConvexShape()
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
#define btAssert(x)
Definition: btScalar.h:295
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &dir) const
btConvexShape Interface
btVector3 & getVertexPtr(int index)
void calcNormal(btVector3 &normal) const
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
virtual const char * getName() const
getName is for debugging
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
virtual void getVertex(int index, btVector3 &vert) const
virtual int getNumVertices() const
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
btTriangleShape()
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
virtual int getNumPlanes() const
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual void getPlaneEquation(int i, btVector3 &planeNormal, btVector3 &planeSupport) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual int getNumEdges() const
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
virtual int getNumPreferredPenetrationDirections() const
btVector3 m_vertices1[3]
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
SyclQueue void void size_t num_bytes void
IconTextureDrawCall normal
vec_base< T, 3 > cross(const vec_base< T, 3 > &a, const vec_base< T, 3 > &b)