Blender  V3.3
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 -----------------------------------------------------------------------------
9 This source file is part of GIMPACT Library.
10 
11 For the latest info, see http://gimpact.sourceforge.net/
12 
13 Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
14 email: 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 
45 {
50 
52  {
56  GUINT i = m_point_count;
57  while (i--)
58  {
59  m_points[i] = other.m_points[i];
60  }
61  }
62 
64  {
65  }
66 
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 
121 {
122 public:
125 
127  {
128  }
129 
131  {
132  return GIM_AABB(m_vertices[0], m_vertices[1], m_vertices[2], m_margin);
133  }
134 
136  {
138  }
139 
141  {
142  TRIANGLE_PLANE(m_vertices[0], m_vertices[1], m_vertices[2], plane);
143  ;
144  }
145 
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 
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 
192  const GIM_TRIANGLE &other,
193  GIM_TRIANGLE_CONTACT_DATA &contact_data) const;
194 
196 
202  const GIM_TRIANGLE &other,
203  GIM_TRIANGLE_CONTACT_DATA &contact_data) const
204  {
205  //test box collisioin
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 
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 
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 
337 
338  return true;
339  }
340 
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 
363 
364  return true;
365  }
366 };
367 
368 #endif // GIM_TRI_COLLISION_H_INCLUDED
in reality light always falls off quadratically Particle Retrieve the data of the particle that spawned the object for example to give variation to multiple instances of an object Point Retrieve information about points in a point cloud Retrieve the edges of an object as it appears to Cycles topology will always appear triangulated Convert a blackbody temperature to an RGB value Normal Generate a perturbed normal from an RGB normal map image Typically used for faking highly detailed surfaces Generate an OSL shader from a file or text data block Image Sample an image file as a texture Sky Generate a procedural sky texture Noise Generate fractal Perlin noise Wave Generate procedural bands or rings with noise Voronoi Generate Worley noise based on the distance to random points Typically used to generate textures such as or biological cells Brick Generate a procedural texture producing bricks Texture Retrieve multiple types of texture coordinates nTypically used as inputs for texture nodes Vector Convert a point
ATTR_WARN_UNUSED_RESULT const BMVert * v
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_FORCE_INLINE btScalar btFabs(btScalar x)
Definition: btScalar.h:497
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
This function calcs the distance from a 3D plane.
Axis aligned box.
SIMD_FORCE_INLINE bool has_collision(const GIM_AABB &other) const
Class for colliding triangles.
SIMD_FORCE_INLINE bool ray_collision(const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
Bidireccional ray collision.
SIMD_FORCE_INLINE 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
btVector3 m_vertices[3]
SIMD_FORCE_INLINE void get_triangle_transform(btTransform &triangle_transform) const
Gets the relative transformation of this triangle.
SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const
bool collide_triangle_hard_test(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test triangles by finding separating axis.
SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const
SIMD_FORCE_INLINE bool get_uv_parameters(const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const
SIMD_FORCE_INLINE void apply_transform(const btTransform &trans)
SIMD_FORCE_INLINE bool is_point_inside(const btVector3 &point, const btVector3 &tri_normal) const
is point in triangle beam?
SIMD_FORCE_INLINE bool collide_triangle(const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
Test boxes before doing hard test.
SIMD_FORCE_INLINE GIM_AABB get_box() const
#define DISTANCE_PLANE_POINT(plane, point)
#define TRIANGLE_PLANE(v1, v2, v3, plane)
plane is a vec4f
#define EDGE_PLANE(e1, e2, n, plane)
Calc a plane from an edge an a normal. plane is a vec4f.
#define TRIANGLE_NORMAL(v1, v2, v3, n)
SIMD_FORCE_INLINE 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
#define MAT_SET_X(mat, vec3)
Get the triple(3) col of a transform matrix.
#define MAT_SET_Z(mat, vec3)
Get the triple(3) col of a transform matrix.
#define VEC_CROSS(c, a, b)
Vector cross.
#define VEC_NORMALIZE(a)
Vector length.
#define MAT_SET_Y(mat, vec3)
Get the triple(3) col of a transform matrix.
#define GREAL
Definition: gim_math.h:37
#define GUINT
Definition: gim_math.h:40
#define G_REAL_INFINITY
Definition: gim_math.h:54
#define G_EPSILON
Definition: gim_math.h:56
#define MAX_TRI_CLIPPING
IconTextureDrawCall normal
Structure for collision.
SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE &plane, GREAL margin, const btVector3 *points, GUINT point_count, DISTANCE_FUNC distance_func)
classify points that are closer
SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA &other)
btVector3 m_points[MAX_TRI_CLIPPING]
SIMD_FORCE_INLINE void merge_points(const btVector4 &plane, GREAL margin, const btVector3 *points, GUINT point_count)
classify points that are closer
GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA &other)
CCL_NAMESPACE_BEGIN ccl_device_inline float3 triangle_normal(KernelGlobals kg, ccl_private ShaderData *sd)
Definition: triangle.h:15