Bullet Collision Detection & Physics Library: btTriangleShape.h Source File

Bullet Collision Detection & Physics Library

btTriangleShape.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
22 ATTRIBUTE_ALIGNED16(class)
23 btTriangleShape : public btPolyhedralConvexShape
24{
25public:
26 BT_DECLARE_ALIGNED_ALLOCATOR();
27
28 btVector3 m_vertices1[3];
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
66 btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir) const
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
82 btTriangleShape() : btPolyhedralConvexShape()
83 {
84 m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
85 }
86
87 btTriangleShape(const btVector3& p0, const btVector3& p1, const btVector3& p2) : btPolyhedralConvexShape()
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
105 void calcNormal(btVector3 & normal) const
106 {
107 normal = (m_vertices1[1] - m_vertices1[0]).cross(m_vertices1[2] - m_vertices1[0]);
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 {
127 btVector3 normal;
128 calcNormal(normal);
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
162 virtual int getNumPreferredPenetrationDirections() const
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
btBoxShape.h
TRIANGLE_SHAPE_PROXYTYPE
@ TRIANGLE_SHAPE_PROXYTYPE
Definition btBroadphaseProxy.h:31
btConvexShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
btAssert
#define btAssert(x)
Definition btScalar.h:153
btCollisionShape::m_shapeType
int m_shapeType
Definition btCollisionShape.h:30
btConvexInternalShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition btConvexInternalShape.cpp:29
btPolyhedralConvexShape::btPolyhedralConvexShape
btPolyhedralConvexShape()
Definition btPolyhedralConvexShape.cpp:26
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTriangleShape::getEdge
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
Definition btTriangleShape.h:54
btTriangleShape::getNumPlanes
virtual int getNumPlanes() const
Definition btTriangleShape.h:100
btTriangleShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition btTriangleShape.h:167
btTriangleShape::isInside
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
Definition btTriangleShape.h:125
btTriangleShape::getVertexPtr
const btVector3 & getVertexPtr(int index) const
Definition btTriangleShape.h:40
btTriangleShape::getNumEdges
virtual int getNumEdges() const
Definition btTriangleShape.h:49
btTriangleShape::getVertex
virtual void getVertex(int index, btVector3 &vert) const
Definition btTriangleShape.h:44
btTriangleShape::localGetSupportingVertexWithoutMargin
btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &dir) const
Definition btTriangleShape.h:66
btTriangleShape::btTriangleShape
btTriangleShape(const btVector3 &p0, const btVector3 &p1, const btVector3 &p2)
Definition btTriangleShape.h:87
btTriangleShape::getPlane
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
Definition btTriangleShape.h:95
btTriangleShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition btTriangleShape.h:72
btTriangleShape::getName
virtual const char * getName() const
Definition btTriangleShape.h:157
btTriangleShape::getAabb
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...
Definition btTriangleShape.h:60
btTriangleShape::getNumVertices
virtual int getNumVertices() const
Definition btTriangleShape.h:30
btTriangleShape::calcNormal
void calcNormal(btVector3 &normal) const
Definition btTriangleShape.h:105
btTriangleShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btTriangleShape::btTriangleShape
btTriangleShape()
Definition btTriangleShape.h:82
btTriangleShape::getPlaneEquation
virtual void getPlaneEquation(int i, btVector3 &planeNormal, btVector3 &planeSupport) const
Definition btTriangleShape.h:111
btTriangleShape::m_vertices1
btVector3 m_vertices1[3]
Definition btTriangleShape.h:28
btTriangleShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition btTriangleShape.h:118
btTriangleShape::getVertexPtr
btVector3 & getVertexPtr(int index)
Definition btTriangleShape.h:35
btTriangleShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition btTriangleShape.h:162
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::cross
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
Definition btVector3.h:380
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition btVector3.h:229
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition btVector3.h:720
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
btVector3::maxAxis
int maxAxis() const
Return the axis with the largest value Note return values are 0,1,2 for x, y, or z.
Definition btVector3.h:477
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition btVector3.h:303