381 lines
10 KiB
C
381 lines
10 KiB
C
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#ifndef GIM_TRI_COLLISION_H_INCLUDED
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#define GIM_TRI_COLLISION_H_INCLUDED
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/*! \file gim_tri_collision.h
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\author Francisco Leon Najera
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*/
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/*
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-----------------------------------------------------------------------------
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of EITHER:
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(1) The GNU Lesser General Public License as published by the Free
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Software Foundation; either version 2.1 of the License, or (at
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your option) any later version. The text of the GNU Lesser
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General Public License is included with this library in the
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file GIMPACT-LICENSE-LGPL.TXT.
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(2) The BSD-style license that is included with this library in
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the file GIMPACT-LICENSE-BSD.TXT.
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(3) The zlib/libpng license that is included with this library in
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the file GIMPACT-LICENSE-ZLIB.TXT.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
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GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
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-----------------------------------------------------------------------------
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*/
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#include "gim_box_collision.h"
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#include "gim_clip_polygon.h"
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#ifndef MAX_TRI_CLIPPING
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#define MAX_TRI_CLIPPING 16
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#endif
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//! Structure for collision
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struct GIM_TRIANGLE_CONTACT_DATA
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{
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GREAL m_penetration_depth;
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GUINT m_point_count;
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btVector4 m_separating_normal;
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btVector3 m_points[MAX_TRI_CLIPPING];
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SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other)
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{
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m_penetration_depth = other.m_penetration_depth;
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m_separating_normal = other.m_separating_normal;
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m_point_count = other.m_point_count;
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GUINT i = m_point_count;
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while(i--)
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{
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m_points[i] = other.m_points[i];
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}
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}
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GIM_TRIANGLE_CONTACT_DATA()
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{
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}
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GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other)
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{
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copy_from(other);
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}
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//! classify points that are closer
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template<typename DISTANCE_FUNC,typename CLASS_PLANE>
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SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane,
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GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func)
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{
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m_point_count = 0;
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m_penetration_depth= -1000.0f;
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GUINT point_indices[MAX_TRI_CLIPPING];
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GUINT _k;
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for(_k=0;_k<point_count;_k++)
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{
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GREAL _dist = -distance_func(plane,points[_k]) + margin;
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if(_dist>=0.0f)
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{
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if(_dist>m_penetration_depth)
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{
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m_penetration_depth = _dist;
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point_indices[0] = _k;
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m_point_count=1;
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}
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else if((_dist+G_EPSILON)>=m_penetration_depth)
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{
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point_indices[m_point_count] = _k;
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m_point_count++;
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}
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}
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}
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for( _k=0;_k<m_point_count;_k++)
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{
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m_points[_k] = points[point_indices[_k]];
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}
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}
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//! classify points that are closer
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SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin,
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const btVector3 * points, GUINT point_count)
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{
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m_separating_normal = plane;
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mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC());
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}
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};
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//! Class for colliding triangles
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class GIM_TRIANGLE
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{
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public:
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btScalar m_margin;
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btVector3 m_vertices[3];
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GIM_TRIANGLE():m_margin(0.1f)
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{
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}
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SIMD_FORCE_INLINE GIM_AABB get_box() const
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{
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return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
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}
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SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const
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{
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TRIANGLE_NORMAL(m_vertices[0],m_vertices[1],m_vertices[2],normal);
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}
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SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const
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{
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TRIANGLE_PLANE(m_vertices[0],m_vertices[1],m_vertices[2],plane);;
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}
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SIMD_FORCE_INLINE void apply_transform(const btTransform & trans)
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{
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m_vertices[0] = trans(m_vertices[0]);
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m_vertices[1] = trans(m_vertices[1]);
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m_vertices[2] = trans(m_vertices[2]);
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}
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SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane) const
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{
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const btVector3 & e0 = m_vertices[edge_index];
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const btVector3 & e1 = m_vertices[(edge_index+1)%3];
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EDGE_PLANE(e0,e1,triangle_normal,plane);
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}
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//! Gets the relative transformation of this triangle
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/*!
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The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0:
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- triangle normal corresponds to Z axis.
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- 1st normalized edge corresponds to X axis,
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*/
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SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform) const
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{
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btMatrix3x3 & matrix = triangle_transform.getBasis();
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btVector3 zaxis;
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get_normal(zaxis);
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MAT_SET_Z(matrix,zaxis);
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btVector3 xaxis = m_vertices[1] - m_vertices[0];
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VEC_NORMALIZE(xaxis);
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MAT_SET_X(matrix,xaxis);
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//y axis
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xaxis = zaxis.cross(xaxis);
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MAT_SET_Y(matrix,xaxis);
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triangle_transform.setOrigin(m_vertices[0]);
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}
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//! Test triangles by finding separating axis
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/*!
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\param other Triangle for collide
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\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
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*/
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bool collide_triangle_hard_test(
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const GIM_TRIANGLE & other,
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GIM_TRIANGLE_CONTACT_DATA & contact_data) const;
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//! Test boxes before doing hard test
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/*!
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\param other Triangle for collide
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\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
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\
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*/
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SIMD_FORCE_INLINE bool collide_triangle(
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const GIM_TRIANGLE & other,
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GIM_TRIANGLE_CONTACT_DATA & contact_data) const
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{
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//test box collisioin
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GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
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GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin);
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if(!boxu.has_collision(boxv)) return false;
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//do hard test
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return collide_triangle_hard_test(other,contact_data);
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}
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/*!
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Solve the System for u,v parameters:
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u*axe1[i1] + v*axe2[i1] = vecproj[i1]
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u*axe1[i2] + v*axe2[i2] = vecproj[i2]
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sustitute:
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v = (vecproj[i2] - u*axe1[i2])/axe2[i2]
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then the first equation in terms of 'u':
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--> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1]
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--> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1]
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--> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2]
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--> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2]
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--> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]
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--> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])
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if 0.0<= u+v <=1.0 then they are inside of triangle
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\return false if the point is outside of triangle.This function doesn't take the margin
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*/
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SIMD_FORCE_INLINE bool get_uv_parameters(
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const btVector3 & point,
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const btVector3 & tri_plane,
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GREAL & u, GREAL & v) const
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{
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btVector3 _axe1 = m_vertices[1]-m_vertices[0];
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btVector3 _axe2 = m_vertices[2]-m_vertices[0];
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btVector3 _vecproj = point - m_vertices[0];
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GUINT _i1 = (tri_plane.closestAxis()+1)%3;
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GUINT _i2 = (_i1+1)%3;
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if(btFabs(_axe2[_i2])<G_EPSILON)
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{
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u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1] - _axe1[_i1]*_axe2[_i2]);
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v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];
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}
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else
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{
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u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2] - _axe1[_i2]*_axe2[_i1]);
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v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];
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}
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if(u<-G_EPSILON)
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{
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return false;
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}
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else if(v<-G_EPSILON)
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{
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return false;
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}
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else
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{
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btScalar sumuv;
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sumuv = u+v;
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if(sumuv<-G_EPSILON)
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{
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return false;
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}
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else if(sumuv-1.0f>G_EPSILON)
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{
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return false;
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}
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}
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return true;
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}
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//! is point in triangle beam?
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/*!
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Test if point is in triangle, with m_margin tolerance
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*/
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SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const
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{
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//Test with edge 0
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btVector4 edge_plane;
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this->get_edge_plane(0,tri_normal,edge_plane);
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GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point);
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if(dist-m_margin>0.0f) return false; // outside plane
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this->get_edge_plane(1,tri_normal,edge_plane);
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dist = DISTANCE_PLANE_POINT(edge_plane,point);
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if(dist-m_margin>0.0f) return false; // outside plane
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this->get_edge_plane(2,tri_normal,edge_plane);
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dist = DISTANCE_PLANE_POINT(edge_plane,point);
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if(dist-m_margin>0.0f) return false; // outside plane
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return true;
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}
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//! Bidireccional ray collision
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SIMD_FORCE_INLINE bool ray_collision(
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const btVector3 & vPoint,
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const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
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GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
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{
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btVector4 faceplane;
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{
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btVector3 dif1 = m_vertices[1] - m_vertices[0];
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btVector3 dif2 = m_vertices[2] - m_vertices[0];
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VEC_CROSS(faceplane,dif1,dif2);
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faceplane[3] = m_vertices[0].dot(faceplane);
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}
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GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
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if(res == 0) return false;
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if(! is_point_inside(pout,faceplane)) return false;
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if(res==2) //invert normal
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{
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triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]);
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}
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else
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{
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triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
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}
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VEC_NORMALIZE(triangle_normal);
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return true;
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}
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//! one direccion ray collision
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SIMD_FORCE_INLINE bool ray_collision_front_side(
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const btVector3 & vPoint,
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const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
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GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
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{
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btVector4 faceplane;
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{
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btVector3 dif1 = m_vertices[1] - m_vertices[0];
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btVector3 dif2 = m_vertices[2] - m_vertices[0];
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VEC_CROSS(faceplane,dif1,dif2);
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faceplane[3] = m_vertices[0].dot(faceplane);
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}
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GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
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if(res != 1) return false;
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if(!is_point_inside(pout,faceplane)) return false;
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triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
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VEC_NORMALIZE(triangle_normal);
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return true;
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}
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};
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#endif // GIM_TRI_COLLISION_H_INCLUDED
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