176 lines
4.4 KiB
C++
176 lines
4.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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 BT_OBB_TRIANGLE_MINKOWSKI_H
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#define BT_OBB_TRIANGLE_MINKOWSKI_H
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#include "btConvexShape.h"
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#include "btBoxShape.h"
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ATTRIBUTE_ALIGNED16(class)
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btTriangleShape : public btPolyhedralConvexShape
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{
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btVector3 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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btVector3& getVertexPtr(int index)
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{
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return m_vertices1[index];
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}
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const btVector3& 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, btVector3& vert) const
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{
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vert = m_vertices1[index];
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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, btVector3& pa, btVector3& 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 btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
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{
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// btAssert(0);
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getAabbSlow(t, aabbMin, aabbMax);
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}
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btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir) const
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{
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btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
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return m_vertices1[dots.maxAxis()];
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}
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* 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 btVector3& dir = vectors[i];
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btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], 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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btTriangleShape() : btPolyhedralConvexShape()
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{
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m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
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}
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btTriangleShape(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btPolyhedralConvexShape()
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{
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m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
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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(btVector3 & planeNormal, btVector3 & 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(btVector3 & 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, btVector3& planeNormal, btVector3& planeSupport) const
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{
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(void)i;
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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(btScalar mass, btVector3 & inertia) const
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{
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(void)mass;
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btAssert(0);
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inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
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}
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virtual bool isInside(const btVector3& pt, btScalar tolerance) const
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{
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btVector3 normal;
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calcNormal(normal);
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//distance to plane
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btScalar dist = pt.dot(normal);
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btScalar 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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btVector3 pa, pb;
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getEdge(i, pa, pb);
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btVector3 edge = pb - pa;
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btVector3 edgeNormal = edge.cross(normal);
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edgeNormal.normalize();
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btScalar dist = pt.dot(edgeNormal);
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btScalar 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 const char* getName() const
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{
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return "Triangle";
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}
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virtual int getNumPreferredPenetrationDirections() const
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{
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return 2;
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}
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virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
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{
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calcNormal(penetrationVector);
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if (index)
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penetrationVector *= btScalar(-1.);
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}
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};
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#endif //BT_OBB_TRIANGLE_MINKOWSKI_H
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