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 22 ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape 23 { 24 25 26 public: 27 28 BT_DECLARE_ALIGNED_ALLOCATOR(); 29 30 btVector3 m_vertices1[3]; 31 32 virtual int getNumVertices() const 33 { 34 return 3; 35 } 36 37 btVector3& getVertexPtr(int index) 38 { 39 return m_vertices1[index]; 40 } 41 42 const btVector3& getVertexPtr(int index) const 43 { 44 return m_vertices1[index]; 45 } 46 virtual void getVertex(int index,btVector3& vert) const 47 { 48 vert = m_vertices1[index]; 49 } 50 51 virtual int getNumEdges() const 52 { 53 return 3; 54 } 55 56 virtual void getEdge(int i,btVector3& pa,btVector3& pb) const 57 { 58 getVertex(i,pa); 59 getVertex((i+1)%3,pb); 60 } 61 62 63 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const 64 { 65 // btAssert(0); 66 getAabbSlow(t,aabbMin,aabbMax); 67 } 68 69 btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const 70 { 71 btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); 72 return m_vertices1[dots.maxAxis()]; 73 74 } 75 76 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const 77 { 78 for (int i=0;i<numVectors;i++) 79 { 80 const btVector3& dir = vectors[i]; 81 btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); 82 supportVerticesOut[i] = m_vertices1[dots.maxAxis()]; 83 } 84 85 } 86 87 btTriangleShape() : btPolyhedralConvexShape () 88 { 89 m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; 90 } 91 92 btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape () 93 { 94 m_shapeType = TRIANGLE_SHAPE_PROXYTYPE; 95 m_vertices1[0] = p0; 96 m_vertices1[1] = p1; 97 m_vertices1[2] = p2; 98 } 99 100 101 virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const 102 { 103 getPlaneEquation(i,planeNormal,planeSupport); 104 } 105 106 virtual int getNumPlanes() const 107 { 108 return 1; 109 } 110 111 void calcNormal(btVector3& normal) const 112 { 113 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]); 114 normal.normalize(); 115 } 116 117 virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const 118 { 119 (void)i; 120 calcNormal(planeNormal); 121 planeSupport = m_vertices1[0]; 122 } 123 124 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const 125 { 126 (void)mass; 127 btAssert(0); 128 inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); 129 } 130 131 virtual bool isInside(const btVector3& pt,btScalar tolerance) const 132 { 133 btVector3 normal; 134 calcNormal(normal); 135 //distance to plane 136 btScalar dist = pt.dot(normal); 137 btScalar planeconst = m_vertices1[0].dot(normal); 138 dist -= planeconst; 139 if (dist >= -tolerance && dist <= tolerance) 140 { 141 //inside check on edge-planes 142 int i; 143 for (i=0;i<3;i++) 144 { 145 btVector3 pa,pb; 146 getEdge(i,pa,pb); 147 btVector3 edge = pb-pa; 148 btVector3 edgeNormal = edge.cross(normal); 149 edgeNormal.normalize(); 150 btScalar dist = pt.dot( edgeNormal); 151 btScalar edgeConst = pa.dot(edgeNormal); 152 dist -= edgeConst; 153 if (dist < -tolerance) 154 return false; 155 } 156 157 return true; 158 } 159 160 return false; 161 } 162 //debugging 163 virtual const char* getName()const 164 { 165 return "Triangle"; 166 } 167 168 virtual int getNumPreferredPenetrationDirections() const 169 { 170 return 2; 171 } 172 173 virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const 174 { 175 calcNormal(penetrationVector); 176 if (index) 177 penetrationVector *= btScalar(-1.); 178 } 179 180 181 }; 182 183 #endif //BT_OBB_TRIANGLE_MINKOWSKI_H 184 185
