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

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gim_tri_collision.h
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1#ifndef GIM_TRI_COLLISION_H_INCLUDED
2#define GIM_TRI_COLLISION_H_INCLUDED
3
7/*
8-----------------------------------------------------------------------------
9This source file is part of GIMPACT Library.
10
11For the latest info, see http://gimpact.sourceforge.net/
12
13Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
14email: projectileman@yahoo.com
15
16 This library is free software; you can redistribute it and/or
17 modify it under the terms of EITHER:
18 (1) The GNU Lesser General Public License as published by the Free
19 Software Foundation; either version 2.1 of the License, or (at
20 your option) any later version. The text of the GNU Lesser
21 General Public License is included with this library in the
22 file GIMPACT-LICENSE-LGPL.TXT.
23 (2) The BSD-style license that is included with this library in
24 the file GIMPACT-LICENSE-BSD.TXT.
25 (3) The zlib/libpng license that is included with this library in
26 the file GIMPACT-LICENSE-ZLIB.TXT.
27
28 This library is distributed in the hope that it will be useful,
29 but WITHOUT ANY WARRANTY; without even the implied warranty of
30 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
31 GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
32
33-----------------------------------------------------------------------------
34*/
35
36#include "gim_box_collision.h"
37#include "gim_clip_polygon.h"
38
39#ifndef MAX_TRI_CLIPPING
40#define MAX_TRI_CLIPPING 16
41#endif
42
44 struct GIM_TRIANGLE_CONTACT_DATA
45{
46 GREAL m_penetration_depth;
47 GUINT m_point_count;
48 btVector4 m_separating_normal;
49 btVector3 m_points[MAX_TRI_CLIPPING];
50
51 SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA &other)
52 {
53 m_penetration_depth = other.m_penetration_depth;
54 m_separating_normal = other.m_separating_normal;
55 m_point_count = other.m_point_count;
56 GUINT i = m_point_count;
57 while (i--)
58 {
59 m_points[i] = other.m_points[i];
60 }
61 }
62
63 GIM_TRIANGLE_CONTACT_DATA()
64 {
65 }
66
67 GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA &other)
68 {
69 copy_from(other);
70 }
71
73 template <typename DISTANCE_FUNC, typename CLASS_PLANE>
74 SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE &plane,
75 GREAL margin, const btVector3 *points, GUINT point_count, DISTANCE_FUNC distance_func)
76 {
77 m_point_count = 0;
78 m_penetration_depth = -1000.0f;
79
80 GUINT point_indices[MAX_TRI_CLIPPING];
81
82 GUINT _k;
83
84 for (_k = 0; _k < point_count; _k++)
85 {
86 GREAL _dist = -distance_func(plane, points[_k]) + margin;
87
88 if (_dist >= 0.0f)
89 {
90 if (_dist > m_penetration_depth)
91 {
92 m_penetration_depth = _dist;
93 point_indices[0] = _k;
94 m_point_count = 1;
95 }
96 else if ((_dist + G_EPSILON) >= m_penetration_depth)
97 {
98 point_indices[m_point_count] = _k;
99 m_point_count++;
100 }
101 }
102 }
103
104 for (_k = 0; _k < m_point_count; _k++)
105 {
106 m_points[_k] = points[point_indices[_k]];
107 }
108 }
109
111 SIMD_FORCE_INLINE void merge_points(const btVector4 &plane, GREAL margin,
112 const btVector3 *points, GUINT point_count)
113 {
114 m_separating_normal = plane;
115 mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC());
116 }
117};
118
120 class GIM_TRIANGLE
121{
122public:
123 btScalar m_margin;
124 btVector3 m_vertices[3];
125
126 GIM_TRIANGLE() : m_margin(0.1f)
127 {
128 }
129
130 SIMD_FORCE_INLINE GIM_AABB get_box() const
131 {
132 return GIM_AABB(m_vertices[0], m_vertices[1], m_vertices[2], m_margin);
133 }
134
135 SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const
136 {
137 TRIANGLE_NORMAL(m_vertices[0], m_vertices[1], m_vertices[2], normal);
138 }
139
140 SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const
141 {
142 TRIANGLE_PLANE(m_vertices[0], m_vertices[1], m_vertices[2], plane);
143 ;
144 }
145
146 SIMD_FORCE_INLINE void apply_transform(const btTransform &trans)
147 {
148 m_vertices[0] = trans(m_vertices[0]);
149 m_vertices[1] = trans(m_vertices[1]);
150 m_vertices[2] = trans(m_vertices[2]);
151 }
152
153 SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
154 {
155 const btVector3 &e0 = m_vertices[edge_index];
156 const btVector3 &e1 = m_vertices[(edge_index + 1) % 3];
157 EDGE_PLANE(e0, e1, triangle_normal, plane);
158 }
159
161
167 SIMD_FORCE_INLINE void get_triangle_transform(btTransform &triangle_transform) const
168 {
169 btMatrix3x3 &matrix = triangle_transform.getBasis();
170
171 btVector3 zaxis;
172 get_normal(zaxis);
173 MAT_SET_Z(matrix, zaxis);
174
175 btVector3 xaxis = m_vertices[1] - m_vertices[0];
176 VEC_NORMALIZE(xaxis);
177 MAT_SET_X(matrix, xaxis);
178
179 //y axis
180 xaxis = zaxis.cross(xaxis);
181 MAT_SET_Y(matrix, xaxis);
182
183 triangle_transform.setOrigin(m_vertices[0]);
184 }
185
187
191 bool collide_triangle_hard_test(
192 const GIM_TRIANGLE &other,
193 GIM_TRIANGLE_CONTACT_DATA &contact_data) const;
194
196
201 SIMD_FORCE_INLINE bool collide_triangle(
202 const GIM_TRIANGLE &other,
203 GIM_TRIANGLE_CONTACT_DATA &contact_data) const
204 {
205 //test box collisioin
206 GIM_AABB boxu(m_vertices[0], m_vertices[1], m_vertices[2], m_margin);
207 GIM_AABB boxv(other.m_vertices[0], other.m_vertices[1], other.m_vertices[2], other.m_margin);
208 if (!boxu.has_collision(boxv)) return false;
209
210 //do hard test
211 return collide_triangle_hard_test(other, contact_data);
212 }
213
242 SIMD_FORCE_INLINE bool get_uv_parameters(
243 const btVector3 &point,
244 const btVector3 &tri_plane,
245 GREAL &u, GREAL &v) const
246 {
247 btVector3 _axe1 = m_vertices[1] - m_vertices[0];
248 btVector3 _axe2 = m_vertices[2] - m_vertices[0];
249 btVector3 _vecproj = point - m_vertices[0];
250 GUINT _i1 = (tri_plane.closestAxis() + 1) % 3;
251 GUINT _i2 = (_i1 + 1) % 3;
252 if (btFabs(_axe2[_i2]) < G_EPSILON)
253 {
254 u = (_vecproj[_i2] * _axe2[_i1] - _vecproj[_i1] * _axe2[_i2]) / (_axe1[_i2] * _axe2[_i1] - _axe1[_i1] * _axe2[_i2]);
255 v = (_vecproj[_i1] - u * _axe1[_i1]) / _axe2[_i1];
256 }
257 else
258 {
259 u = (_vecproj[_i1] * _axe2[_i2] - _vecproj[_i2] * _axe2[_i1]) / (_axe1[_i1] * _axe2[_i2] - _axe1[_i2] * _axe2[_i1]);
260 v = (_vecproj[_i2] - u * _axe1[_i2]) / _axe2[_i2];
261 }
262
263 if (u < -G_EPSILON)
264 {
265 return false;
266 }
267 else if (v < -G_EPSILON)
268 {
269 return false;
270 }
271 else
272 {
273 btScalar sumuv;
274 sumuv = u + v;
275 if (sumuv < -G_EPSILON)
276 {
277 return false;
278 }
279 else if (sumuv - 1.0f > G_EPSILON)
280 {
281 return false;
282 }
283 }
284 return true;
285 }
286
288
291 SIMD_FORCE_INLINE bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
292 {
293 //Test with edge 0
294 btVector4 edge_plane;
295 this->get_edge_plane(0, tri_normal, edge_plane);
296 GREAL dist = DISTANCE_PLANE_POINT(edge_plane, point);
297 if (dist - m_margin > 0.0f) return false; // outside plane
298
299 this->get_edge_plane(1, tri_normal, edge_plane);
300 dist = DISTANCE_PLANE_POINT(edge_plane, point);
301 if (dist - m_margin > 0.0f) return false; // outside plane
302
303 this->get_edge_plane(2, tri_normal, edge_plane);
304 dist = DISTANCE_PLANE_POINT(edge_plane, point);
305 if (dist - m_margin > 0.0f) return false; // outside plane
306 return true;
307 }
308
310 SIMD_FORCE_INLINE bool ray_collision(
311 const btVector3 &vPoint,
312 const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal,
313 GREAL &tparam, GREAL tmax = G_REAL_INFINITY)
314 {
315 btVector4 faceplane;
316 {
317 btVector3 dif1 = m_vertices[1] - m_vertices[0];
318 btVector3 dif2 = m_vertices[2] - m_vertices[0];
319 VEC_CROSS(faceplane, dif1, dif2);
320 faceplane[3] = m_vertices[0].dot(faceplane);
321 }
322
323 GUINT res = LINE_PLANE_COLLISION(faceplane, vDir, vPoint, pout, tparam, btScalar(0), tmax);
324 if (res == 0) return false;
325 if (!is_point_inside(pout, faceplane)) return false;
326
327 if (res == 2) //invert normal
328 {
329 triangle_normal.setValue(-faceplane[0], -faceplane[1], -faceplane[2]);
330 }
331 else
332 {
333 triangle_normal.setValue(faceplane[0], faceplane[1], faceplane[2]);
334 }
335
336 VEC_NORMALIZE(triangle_normal);
337
338 return true;
339 }
340
342 SIMD_FORCE_INLINE bool ray_collision_front_side(
343 const btVector3 &vPoint,
344 const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal,
345 GREAL &tparam, GREAL tmax = G_REAL_INFINITY)
346 {
347 btVector4 faceplane;
348 {
349 btVector3 dif1 = m_vertices[1] - m_vertices[0];
350 btVector3 dif2 = m_vertices[2] - m_vertices[0];
351 VEC_CROSS(faceplane, dif1, dif2);
352 faceplane[3] = m_vertices[0].dot(faceplane);
353 }
354
355 GUINT res = LINE_PLANE_COLLISION(faceplane, vDir, vPoint, pout, tparam, btScalar(0), tmax);
356 if (res != 1) return false;
357
358 if (!is_point_inside(pout, faceplane)) return false;
359
360 triangle_normal.setValue(faceplane[0], faceplane[1], faceplane[2]);
361
362 VEC_NORMALIZE(triangle_normal);
363
364 return true;
365 }
366};
367
368#endif // GIM_TRI_COLLISION_H_INCLUDED
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btFabs
btScalar btFabs(btScalar x)
Definition btScalar.h:497
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition btScalar.h:98
DISTANCE_PLANE_3D_FUNC
This function calcs the distance from a 3D plane.
Definition gim_clip_polygon.h:38
GIM_AABB
Axis aligned box.
Definition gim_box_collision.h:196
GIM_AABB::has_collision
bool has_collision(const GIM_AABB &other) const
Definition gim_box_collision.h:381
GIM_TRIANGLE
Class for colliding triangles.
Definition gim_tri_collision.h:121
GIM_TRIANGLE::m_margin
btScalar m_margin
Definition gim_tri_collision.h:123
GIM_TRIANGLE::apply_transform
void apply_transform(const btTransform &trans)
Definition gim_tri_collision.h:146
GIM_TRIANGLE::m_vertices
btVector3 m_vertices[3]
Definition gim_tri_collision.h:124
GIM_TRIANGLE::get_uv_parameters
bool get_uv_parameters(const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const
Definition gim_tri_collision.h:242
GIM_TRIANGLE::collide_triangle_hard_test
bool collide_triangle_hard_test(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test triangles by finding separating axis.
Definition gim_tri_collision.cpp:610
GIM_TRIANGLE::get_box
GIM_AABB get_box() const
Definition gim_tri_collision.h:130
GIM_TRIANGLE::GIM_TRIANGLE
GIM_TRIANGLE()
Definition gim_tri_collision.h:126
GIM_TRIANGLE::ray_collision_front_side
bool ray_collision_front_side(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
one direccion ray collision
Definition gim_tri_collision.h:342
GIM_TRIANGLE::get_edge_plane
void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
Definition gim_tri_collision.h:153
GIM_TRIANGLE::get_triangle_transform
void get_triangle_transform(btTransform &triangle_transform) const
Gets the relative transformation of this triangle.
Definition gim_tri_collision.h:167
GIM_TRIANGLE::ray_collision
bool ray_collision(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
Bidireccional ray collision.
Definition gim_tri_collision.h:310
GIM_TRIANGLE::get_normal
void get_normal(btVector3 &normal) const
Definition gim_tri_collision.h:135
GIM_TRIANGLE::is_point_inside
bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
is point in triangle beam?
Definition gim_tri_collision.h:291
GIM_TRIANGLE::collide_triangle
bool collide_triangle(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test boxes before doing hard test.
Definition gim_tri_collision.h:201
GIM_TRIANGLE::get_plane
void get_plane(btVector4 &plane) const
Definition gim_tri_collision.h:140
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition btMatrix3x3.h:50
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition btTransform.h:109
btTransform::setOrigin
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition btTransform.h:147
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::closestAxis
int closestAxis() const
Definition btVector3.h:487
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::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
btVector4
Definition btVector3.h:1074
DISTANCE_PLANE_POINT
#define DISTANCE_PLANE_POINT(plane, point)
Definition gim_basic_geometry_operations.h:89
TRIANGLE_PLANE
#define TRIANGLE_PLANE(v1, v2, v3, plane)
plane is a vec4f
Definition gim_basic_geometry_operations.h:66
EDGE_PLANE
#define EDGE_PLANE(e1, e2, n, plane)
Calc a plane from an edge an a normal. plane is a vec4f.
Definition gim_basic_geometry_operations.h:80
TRIANGLE_NORMAL
#define TRIANGLE_NORMAL(v1, v2, v3, n)
Definition gim_basic_geometry_operations.h:48
LINE_PLANE_COLLISION
GUINT LINE_PLANE_COLLISION(const CLASS_PLANE &plane, const CLASS_POINT &vDir, const CLASS_POINT &vPoint, CLASS_POINT &pout, T &tparam, T tmin, T tmax)
line collision
Definition gim_basic_geometry_operations.h:270
gim_box_collision.h
gim_clip_polygon.h
MAT_SET_X
#define MAT_SET_X(mat, vec3)
Get the triple(3) col of a transform matrix.
Definition gim_linear_math.h:1419
MAT_SET_Z
#define MAT_SET_Z(mat, vec3)
Get the triple(3) col of a transform matrix.
Definition gim_linear_math.h:1435
VEC_CROSS
#define VEC_CROSS(c, a, b)
Vector cross.
Definition gim_linear_math.h:294
VEC_NORMALIZE
#define VEC_NORMALIZE(a)
Vector length.
Definition gim_linear_math.h:267
MAT_SET_Y
#define MAT_SET_Y(mat, vec3)
Get the triple(3) col of a transform matrix.
Definition gim_linear_math.h:1427
GREAL
#define GREAL
Definition gim_math.h:37
GUINT
#define GUINT
Definition gim_math.h:40
G_REAL_INFINITY
#define G_REAL_INFINITY
Definition gim_math.h:54
G_EPSILON
#define G_EPSILON
Definition gim_math.h:56
MAX_TRI_CLIPPING
#define MAX_TRI_CLIPPING
Definition gim_tri_collision.h:40
GIM_TRIANGLE_CONTACT_DATA
Structure for collision.
Definition gim_tri_collision.h:45
GIM_TRIANGLE_CONTACT_DATA::m_points
btVector3 m_points[MAX_TRI_CLIPPING]
Definition gim_tri_collision.h:49
GIM_TRIANGLE_CONTACT_DATA::m_penetration_depth
GREAL m_penetration_depth
Definition gim_tri_collision.h:46
GIM_TRIANGLE_CONTACT_DATA::m_point_count
GUINT m_point_count
Definition gim_tri_collision.h:47
GIM_TRIANGLE_CONTACT_DATA::mergepoints_generic
void mergepoints_generic(const CLASS_PLANE &plane, GREAL margin, const btVector3 *points, GUINT point_count, DISTANCE_FUNC distance_func)
classify points that are closer
Definition gim_tri_collision.h:74
GIM_TRIANGLE_CONTACT_DATA::copy_from
void copy_from(const GIM_TRIANGLE_CONTACT_DATA &other)
Definition gim_tri_collision.h:51
GIM_TRIANGLE_CONTACT_DATA::GIM_TRIANGLE_CONTACT_DATA
GIM_TRIANGLE_CONTACT_DATA()
Definition gim_tri_collision.h:63
GIM_TRIANGLE_CONTACT_DATA::GIM_TRIANGLE_CONTACT_DATA
GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA &other)
Definition gim_tri_collision.h:67
GIM_TRIANGLE_CONTACT_DATA::merge_points
void merge_points(const btVector4 &plane, GREAL margin, const btVector3 *points, GUINT point_count)
classify points that are closer
Definition gim_tri_collision.h:111
GIM_TRIANGLE_CONTACT_DATA::m_separating_normal
btVector4 m_separating_normal
Definition gim_tri_collision.h:48