641 lines
16 KiB
C++
641 lines
16 KiB
C++
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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_tri_collision.h"
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#define TRI_LOCAL_EPSILON 0.000001f
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#define MIN_EDGE_EDGE_DIS 0.00001f
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class GIM_TRIANGLE_CALCULATION_CACHE
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{
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public:
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GREAL margin;
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btVector3 tu_vertices[3];
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btVector3 tv_vertices[3];
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btVector4 tu_plane;
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btVector4 tv_plane;
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btVector3 closest_point_u;
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btVector3 closest_point_v;
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btVector3 edge_edge_dir;
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btVector3 distances;
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GREAL du[4];
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GREAL du0du1;
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GREAL du0du2;
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GREAL dv[4];
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GREAL dv0dv1;
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GREAL dv0dv2;
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btVector3 temp_points[MAX_TRI_CLIPPING];
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btVector3 temp_points1[MAX_TRI_CLIPPING];
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btVector3 contact_points[MAX_TRI_CLIPPING];
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//! if returns false, the faces are paralele
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SIMD_FORCE_INLINE bool compute_intervals(
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const GREAL &D0,
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const GREAL &D1,
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const GREAL &D2,
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const GREAL &D0D1,
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const GREAL &D0D2,
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GREAL & scale_edge0,
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GREAL & scale_edge1,
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GUINT &edge_index0,
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GUINT &edge_index1)
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{
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if(D0D1>0.0f)
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{
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/* here we know that D0D2<=0.0 */
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/* that is D0, D1 are on the same side, D2 on the other or on the plane */
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scale_edge0 = -D2/(D0-D2);
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scale_edge1 = -D1/(D2-D1);
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edge_index0 = 2;edge_index1 = 1;
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}
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else if(D0D2>0.0f)
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{
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/* here we know that d0d1<=0.0 */
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scale_edge0 = -D0/(D1-D0);
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scale_edge1 = -D1/(D2-D1);
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edge_index0 = 0;edge_index1 = 1;
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}
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else if(D1*D2>0.0f || D0!=0.0f)
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{
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/* here we know that d0d1<=0.0 or that D0!=0.0 */
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scale_edge0 = -D0/(D1-D0);
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scale_edge1 = -D2/(D0-D2);
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edge_index0 = 0 ;edge_index1 = 2;
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}
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else
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{
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return false;
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}
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return true;
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}
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//! clip triangle
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/*!
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*/
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SIMD_FORCE_INLINE GUINT clip_triangle(
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const btVector4 & tri_plane,
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const btVector3 * tripoints,
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const btVector3 * srcpoints,
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btVector3 * clip_points)
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{
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// edge 0
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btVector4 edgeplane;
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EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
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GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
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edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
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if(clipped_count == 0) return 0;
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// edge 1
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EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
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clipped_count = PLANE_CLIP_POLYGON3D(
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edgeplane,temp_points,clipped_count,temp_points1);
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if(clipped_count == 0) return 0;
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// edge 2
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EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
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clipped_count = PLANE_CLIP_POLYGON3D(
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edgeplane,temp_points1,clipped_count,clip_points);
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return clipped_count;
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/*GUINT i0 = (tri_plane.closestAxis()+1)%3;
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GUINT i1 = (i0+1)%3;
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// edge 0
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btVector3 temp_points[MAX_TRI_CLIPPING];
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btVector3 temp_points1[MAX_TRI_CLIPPING];
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GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC(
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0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points,
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DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1));
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if(clipped_count == 0) return 0;
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// edge 1
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clipped_count = PLANE_CLIP_POLYGON_GENERIC(
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0,temp_points,clipped_count,temp_points1,
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DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1));
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if(clipped_count == 0) return 0;
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// edge 2
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clipped_count = PLANE_CLIP_POLYGON_GENERIC(
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0,temp_points1,clipped_count,clipped_points,
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DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1));
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return clipped_count;*/
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}
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SIMD_FORCE_INLINE void sort_isect(
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GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1)
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{
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if(isect1<isect0)
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{
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//swap
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GIM_SWAP_NUMBERS(isect0,isect1);
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GIM_SWAP_NUMBERS(e0,e1);
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btVector3 tmp = vec0;
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vec0 = vec1;
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vec1 = tmp;
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}
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}
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//! Test verifying interval intersection with the direction between planes
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/*!
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\pre tv_plane and tu_plane must be set
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\post
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distances[2] is set with the distance
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closest_point_u, closest_point_v, edge_edge_dir are set too
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\return
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- 0: faces are paralele
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- 1: face U casts face V
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- 2: face V casts face U
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- 3: nearest edges
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*/
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SIMD_FORCE_INLINE GUINT cross_line_intersection_test()
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{
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// Compute direction of intersection line
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edge_edge_dir = tu_plane.cross(tv_plane);
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GREAL Dlen;
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VEC_LENGTH(edge_edge_dir,Dlen);
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if(Dlen<0.0001)
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{
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return 0; //faces near paralele
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}
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edge_edge_dir*= 1/Dlen;//normalize
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// Compute interval for triangle 1
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GUINT tu_e0,tu_e1;//edge indices
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GREAL tu_scale_e0,tu_scale_e1;//edge scale
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if(!compute_intervals(du[0],du[1],du[2],
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du0du1,du0du2,tu_scale_e0,tu_scale_e1,tu_e0,tu_e1)) return 0;
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// Compute interval for triangle 2
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GUINT tv_e0,tv_e1;//edge indices
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GREAL tv_scale_e0,tv_scale_e1;//edge scale
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if(!compute_intervals(dv[0],dv[1],dv[2],
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dv0dv1,dv0dv2,tv_scale_e0,tv_scale_e1,tv_e0,tv_e1)) return 0;
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//proyected vertices
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btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0+1)%3],tu_scale_e0);
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btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1+1)%3],tu_scale_e1);
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btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0+1)%3],tv_scale_e0);
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btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1+1)%3],tv_scale_e1);
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//proyected intervals
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GREAL isect_u[] = {up_e0.dot(edge_edge_dir),up_e1.dot(edge_edge_dir)};
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GREAL isect_v[] = {vp_e0.dot(edge_edge_dir),vp_e1.dot(edge_edge_dir)};
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sort_isect(isect_u[0],isect_u[1],tu_e0,tu_e1,up_e0,up_e1);
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sort_isect(isect_v[0],isect_v[1],tv_e0,tv_e1,vp_e0,vp_e1);
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const GREAL midpoint_u = 0.5f*(isect_u[0]+isect_u[1]); // midpoint
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const GREAL midpoint_v = 0.5f*(isect_v[0]+isect_v[1]); // midpoint
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if(midpoint_u<midpoint_v)
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{
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if(isect_u[1]>=isect_v[1]) // face U casts face V
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{
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return 1;
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}
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else if(isect_v[0]<=isect_u[0]) // face V casts face U
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{
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return 2;
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}
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// closest points
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closest_point_u = up_e1;
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closest_point_v = vp_e0;
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// calc edges and separation
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if(isect_u[1]+ MIN_EDGE_EDGE_DIS<isect_v[0]) //calc distance between two lines instead
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{
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SEGMENT_COLLISION(
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tu_vertices[tu_e1],tu_vertices[(tu_e1+1)%3],
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tv_vertices[tv_e0],tv_vertices[(tv_e0+1)%3],
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closest_point_u,
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closest_point_v);
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edge_edge_dir = closest_point_u-closest_point_v;
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VEC_LENGTH(edge_edge_dir,distances[2]);
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edge_edge_dir *= 1.0f/distances[2];// normalize
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}
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else
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{
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distances[2] = isect_v[0]-isect_u[1];//distance negative
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//edge_edge_dir *= -1.0f; //normal pointing from V to U
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}
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}
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else
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{
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if(isect_v[1]>=isect_u[1]) // face V casts face U
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{
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return 2;
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}
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else if(isect_u[0]<=isect_v[0]) // face U casts face V
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{
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return 1;
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}
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// closest points
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closest_point_u = up_e0;
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closest_point_v = vp_e1;
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// calc edges and separation
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if(isect_v[1]+MIN_EDGE_EDGE_DIS<isect_u[0]) //calc distance between two lines instead
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{
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SEGMENT_COLLISION(
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tu_vertices[tu_e0],tu_vertices[(tu_e0+1)%3],
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tv_vertices[tv_e1],tv_vertices[(tv_e1+1)%3],
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closest_point_u,
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closest_point_v);
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edge_edge_dir = closest_point_u-closest_point_v;
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VEC_LENGTH(edge_edge_dir,distances[2]);
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edge_edge_dir *= 1.0f/distances[2];// normalize
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}
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else
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{
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distances[2] = isect_u[0]-isect_v[1];//distance negative
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//edge_edge_dir *= -1.0f; //normal pointing from V to U
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}
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}
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return 3;
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}
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//! collides by two sides
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SIMD_FORCE_INLINE bool triangle_collision(
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const btVector3 & u0,
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const btVector3 & u1,
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const btVector3 & u2,
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GREAL margin_u,
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const btVector3 & v0,
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const btVector3 & v1,
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const btVector3 & v2,
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GREAL margin_v,
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GIM_TRIANGLE_CONTACT_DATA & contacts)
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{
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margin = margin_u + margin_v;
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tu_vertices[0] = u0;
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tu_vertices[1] = u1;
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tu_vertices[2] = u2;
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tv_vertices[0] = v0;
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tv_vertices[1] = v1;
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tv_vertices[2] = v2;
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//create planes
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// plane v vs U points
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TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],tv_plane);
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du[0] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[0]);
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du[1] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[1]);
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du[2] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[2]);
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du0du1 = du[0] * du[1];
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du0du2 = du[0] * du[2];
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if(du0du1>0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ?
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{
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if(du[0]<0) //we need test behind the triangle plane
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{
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distances[0] = GIM_MAX3(du[0],du[1],du[2]);
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distances[0] = -distances[0];
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if(distances[0]>margin) return false; //never intersect
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//reorder triangle v
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VEC_SWAP(tv_vertices[0],tv_vertices[1]);
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VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
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}
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else
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{
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distances[0] = GIM_MIN3(du[0],du[1],du[2]);
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if(distances[0]>margin) return false; //never intersect
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}
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}
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else
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{
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//Look if we need to invert the triangle
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distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid
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if(distances[0]<0.0f)
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{
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//reorder triangle v
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VEC_SWAP(tv_vertices[0],tv_vertices[1]);
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VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
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distances[0] = GIM_MAX3(du[0],du[1],du[2]);
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distances[0] = -distances[0];
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}
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else
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{
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distances[0] = GIM_MIN3(du[0],du[1],du[2]);
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}
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}
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// plane U vs V points
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TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane);
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dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]);
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dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]);
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dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]);
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dv0dv1 = dv[0] * dv[1];
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dv0dv2 = dv[0] * dv[2];
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if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ?
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{
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if(dv[0]<0) //we need test behind the triangle plane
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{
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distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
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distances[1] = -distances[1];
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if(distances[1]>margin) return false; //never intersect
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//reorder triangle u
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VEC_SWAP(tu_vertices[0],tu_vertices[1]);
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VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
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}
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else
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{
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distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
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if(distances[1]>margin) return false; //never intersect
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}
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}
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else
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{
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//Look if we need to invert the triangle
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distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid
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if(distances[1]<0.0f)
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{
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//reorder triangle v
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VEC_SWAP(tu_vertices[0],tu_vertices[1]);
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VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
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distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
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distances[1] = -distances[1];
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}
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else
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{
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distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
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}
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}
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GUINT bl;
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/* bl = cross_line_intersection_test();
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if(bl==3)
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{
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//take edge direction too
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bl = distances.maxAxis();
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}
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else
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{*/
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bl = 0;
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if(distances[0]<distances[1]) bl = 1;
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//}
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if(bl==2) //edge edge separation
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{
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if(distances[2]>margin) return false;
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contacts.m_penetration_depth = -distances[2] + margin;
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contacts.m_points[0] = closest_point_v;
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contacts.m_point_count = 1;
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VEC_COPY(contacts.m_separating_normal,edge_edge_dir);
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return true;
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}
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//clip face against other
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GUINT point_count;
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//TODO
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if(bl == 0) //clip U points against V
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{
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point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points);
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if(point_count == 0) return false;
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contacts.merge_points(tv_plane,margin,contact_points,point_count);
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}
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else //clip V points against U
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{
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point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points);
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if(point_count == 0) return false;
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contacts.merge_points(tu_plane,margin,contact_points,point_count);
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contacts.m_separating_normal *= -1.f;
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}
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if(contacts.m_point_count == 0) return false;
|
|
return true;
|
|
}
|
|
|
|
};
|
|
|
|
|
|
/*class GIM_TRIANGLE_CALCULATION_CACHE
|
|
{
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|
public:
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|
GREAL margin;
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|
GUINT clipped_count;
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|
btVector3 tu_vertices[3];
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|
btVector3 tv_vertices[3];
|
|
btVector3 temp_points[MAX_TRI_CLIPPING];
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|
btVector3 temp_points1[MAX_TRI_CLIPPING];
|
|
btVector3 clipped_points[MAX_TRI_CLIPPING];
|
|
GIM_TRIANGLE_CONTACT_DATA contacts1;
|
|
GIM_TRIANGLE_CONTACT_DATA contacts2;
|
|
|
|
|
|
//! clip triangle
|
|
GUINT clip_triangle(
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|
const btVector4 & tri_plane,
|
|
const btVector3 * tripoints,
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|
const btVector3 * srcpoints,
|
|
btVector3 * clipped_points)
|
|
{
|
|
// edge 0
|
|
|
|
btVector4 edgeplane;
|
|
|
|
EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
|
|
|
|
GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
|
|
edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
|
|
|
|
if(clipped_count == 0) return 0;
|
|
|
|
// edge 1
|
|
|
|
EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
|
|
|
|
clipped_count = PLANE_CLIP_POLYGON3D(
|
|
edgeplane,temp_points,clipped_count,temp_points1);
|
|
|
|
if(clipped_count == 0) return 0;
|
|
|
|
// edge 2
|
|
|
|
EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
|
|
|
|
clipped_count = PLANE_CLIP_POLYGON3D(
|
|
edgeplane,temp_points1,clipped_count,clipped_points);
|
|
|
|
return clipped_count;
|
|
}
|
|
|
|
|
|
|
|
|
|
//! collides only on one side
|
|
bool triangle_collision(
|
|
const btVector3 & u0,
|
|
const btVector3 & u1,
|
|
const btVector3 & u2,
|
|
GREAL margin_u,
|
|
const btVector3 & v0,
|
|
const btVector3 & v1,
|
|
const btVector3 & v2,
|
|
GREAL margin_v,
|
|
GIM_TRIANGLE_CONTACT_DATA & contacts)
|
|
{
|
|
|
|
margin = margin_u + margin_v;
|
|
|
|
|
|
tu_vertices[0] = u0;
|
|
tu_vertices[1] = u1;
|
|
tu_vertices[2] = u2;
|
|
|
|
tv_vertices[0] = v0;
|
|
tv_vertices[1] = v1;
|
|
tv_vertices[2] = v2;
|
|
|
|
//create planes
|
|
// plane v vs U points
|
|
|
|
|
|
TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal);
|
|
|
|
clipped_count = clip_triangle(
|
|
contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points);
|
|
|
|
if(clipped_count == 0 )
|
|
{
|
|
return false;//Reject
|
|
}
|
|
|
|
//find most deep interval face1
|
|
contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
|
|
if(contacts1.m_point_count == 0) return false; // too far
|
|
|
|
//Normal pointing to triangle1
|
|
//contacts1.m_separating_normal *= -1.f;
|
|
|
|
//Clip tri1 by tri2 edges
|
|
|
|
TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal);
|
|
|
|
clipped_count = clip_triangle(
|
|
contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points);
|
|
|
|
if(clipped_count == 0 )
|
|
{
|
|
return false;//Reject
|
|
}
|
|
|
|
//find most deep interval face1
|
|
contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
|
|
if(contacts2.m_point_count == 0) return false; // too far
|
|
|
|
contacts2.m_separating_normal *= -1.f;
|
|
|
|
////check most dir for contacts
|
|
if(contacts2.m_penetration_depth<contacts1.m_penetration_depth)
|
|
{
|
|
contacts.copy_from(contacts2);
|
|
}
|
|
else
|
|
{
|
|
contacts.copy_from(contacts1);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
};*/
|
|
|
|
|
|
|
|
bool GIM_TRIANGLE::collide_triangle_hard_test(
|
|
const GIM_TRIANGLE & other,
|
|
GIM_TRIANGLE_CONTACT_DATA & contact_data) const
|
|
{
|
|
GIM_TRIANGLE_CALCULATION_CACHE calc_cache;
|
|
return calc_cache.triangle_collision(
|
|
m_vertices[0],m_vertices[1],m_vertices[2],m_margin,
|
|
other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin,
|
|
contact_data);
|
|
|
|
}
|
|
|
|
|
|
|
|
|