forked from bartvdbraak/blender
165 lines
4.0 KiB
C++
165 lines
4.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef OBB_TRIANGLE_MINKOWSKI_H
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#define OBB_TRIANGLE_MINKOWSKI_H
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#include "ConvexShape.h"
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#include "CollisionShapes/BoxShape.h"
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class TriangleShape : public PolyhedralConvexShape
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{
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public:
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SimdVector3 m_vertices1[3];
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virtual int GetNumVertices() const
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{
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return 3;
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}
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const SimdVector3& GetVertexPtr(int index) const
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{
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return m_vertices1[index];
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}
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virtual void GetVertex(int index,SimdVector3& vert) const
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{
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vert = m_vertices1[index];
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}
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virtual int GetShapeType() const
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{
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return TRIANGLE_SHAPE_PROXYTYPE;
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}
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virtual int GetNumEdges() const
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{
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return 3;
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}
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virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
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{
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GetVertex(i,pa);
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GetVertex((i+1)%3,pb);
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}
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virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax)const
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{
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// ASSERT(0);
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GetAabbSlow(t,aabbMin,aabbMax);
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}
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SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& dir)const
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{
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SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
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return m_vertices1[dots.maxAxis()];
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}
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virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
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{
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for (int i=0;i<numVectors;i++)
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{
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const SimdVector3& dir = vectors[i];
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SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
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supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
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}
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}
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TriangleShape(const SimdVector3& p0,const SimdVector3& p1,const SimdVector3& p2)
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{
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m_vertices1[0] = p0;
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m_vertices1[1] = p1;
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m_vertices1[2] = p2;
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}
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virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
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{
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GetPlaneEquation(i,planeNormal,planeSupport);
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}
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virtual int GetNumPlanes() const
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{
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return 1;
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}
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void CalcNormal(SimdVector3& normal) const
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{
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normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
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normal.normalize();
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}
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virtual void GetPlaneEquation(int i, SimdVector3& planeNormal,SimdPoint3& planeSupport) const
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{
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CalcNormal(planeNormal);
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planeSupport = m_vertices1[0];
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}
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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ASSERT(0);
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inertia.setValue(0.f,0.f,0.f);
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}
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virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
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{
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SimdVector3 normal;
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CalcNormal(normal);
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//distance to plane
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SimdScalar dist = pt.dot(normal);
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SimdScalar planeconst = m_vertices1[0].dot(normal);
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dist -= planeconst;
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if (dist >= -tolerance && dist <= tolerance)
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{
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//inside check on edge-planes
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int i;
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for (i=0;i<3;i++)
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{
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SimdPoint3 pa,pb;
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GetEdge(i,pa,pb);
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SimdVector3 edge = pb-pa;
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SimdVector3 edgeNormal = edge.cross(normal);
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edgeNormal.normalize();
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SimdScalar dist = pt.dot( edgeNormal);
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SimdScalar edgeConst = pa.dot(edgeNormal);
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dist -= edgeConst;
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if (dist < -tolerance)
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return false;
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}
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return true;
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}
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return false;
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}
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//debugging
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virtual char* GetName()const
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{
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return "Triangle";
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}
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};
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#endif //OBB_TRIANGLE_MINKOWSKI_H
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