Class for colliding triangles. More...
#include <gim_tri_collision.h>
Public Member Functions | |
| SIMD_FORCE_INLINE void | apply_transform (const btTransform &trans) |
| SIMD_FORCE_INLINE bool | collide_triangle (const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const |
| Test boxes before doing hard test. | |
| 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 GIM_AABB | get_box () const |
| 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 void | get_plane (btVector4 &plane) const |
| SIMD_FORCE_INLINE void | get_triangle_transform (btTransform &triangle_transform) const |
| Gets the relative transformation of this triangle. | |
| SIMD_FORCE_INLINE bool | get_uv_parameters (const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const |
| GIM_TRIANGLE () | |
| SIMD_FORCE_INLINE bool | is_point_inside (const btVector3 &point, const btVector3 &tri_normal) const |
| is point in triangle beam? | |
| 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 | |
Public Attributes | |
| btScalar | m_margin |
| btVector3 | m_vertices [3] |
Class for colliding triangles.
Definition at line 125 of file gim_tri_collision.h.
| GIM_TRIANGLE::GIM_TRIANGLE | ( | ) | [inline] |
Definition at line 131 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE void GIM_TRIANGLE::apply_transform | ( | const btTransform & | trans | ) | [inline] |
Definition at line 150 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE bool GIM_TRIANGLE::collide_triangle | ( | const GIM_TRIANGLE & | other, |
| GIM_TRIANGLE_CONTACT_DATA & | contact_data | ||
| ) | const [inline] |
Test boxes before doing hard test.
| other | Triangle for collide |
| contact_data | Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle \ |
Definition at line 206 of file gim_tri_collision.h.
| bool GIM_TRIANGLE::collide_triangle_hard_test | ( | const GIM_TRIANGLE & | other, |
| GIM_TRIANGLE_CONTACT_DATA & | contact_data | ||
| ) | const |
Test triangles by finding separating axis.
| other | Triangle for collide |
| contact_data | Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle |
| SIMD_FORCE_INLINE GIM_AABB GIM_TRIANGLE::get_box | ( | ) | const [inline] |
Definition at line 135 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE void GIM_TRIANGLE::get_edge_plane | ( | GUINT | edge_index, |
| const btVector3 & | triangle_normal, | ||
| btVector4 & | plane | ||
| ) | const [inline] |
Definition at line 157 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE void GIM_TRIANGLE::get_normal | ( | btVector3 & | normal | ) | const [inline] |
Definition at line 140 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE void GIM_TRIANGLE::get_plane | ( | btVector4 & | plane | ) | const [inline] |
Definition at line 145 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE void GIM_TRIANGLE::get_triangle_transform | ( | btTransform & | triangle_transform | ) | const [inline] |
Gets the relative transformation of this triangle.
The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0:
Definition at line 171 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE bool GIM_TRIANGLE::get_uv_parameters | ( | const btVector3 & | point, |
| const btVector3 & | tri_plane, | ||
| GREAL & | u, | ||
| GREAL & | v | ||
| ) | const [inline] |
Solve the System for u,v parameters:
u*axe1[i1] + v*axe2[i1] = vecproj[i1] u*axe1[i2] + v*axe2[i2] = vecproj[i2]
sustitute: v = (vecproj[i2] - u*axe1[i2])/axe2[i2]
then the first equation in terms of 'u':
--> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1]
--> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1]
--> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2]
--> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2]
--> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]
--> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])
if 0.0<= u+v <=1.0 then they are inside of triangle
Definition at line 247 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE bool GIM_TRIANGLE::is_point_inside | ( | const btVector3 & | point, |
| const btVector3 & | tri_normal | ||
| ) | const [inline] |
is point in triangle beam?
Test if point is in triangle, with m_margin tolerance
Definition at line 296 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE bool GIM_TRIANGLE::ray_collision | ( | const btVector3 & | vPoint, |
| const btVector3 & | vDir, | ||
| btVector3 & | pout, | ||
| btVector3 & | triangle_normal, | ||
| GREAL & | tparam, | ||
| GREAL | tmax = G_REAL_INFINITY |
||
| ) | [inline] |
Bidireccional ray collision.
Definition at line 316 of file gim_tri_collision.h.
| SIMD_FORCE_INLINE bool GIM_TRIANGLE::ray_collision_front_side | ( | const btVector3 & | vPoint, |
| const btVector3 & | vDir, | ||
| btVector3 & | pout, | ||
| btVector3 & | triangle_normal, | ||
| GREAL & | tparam, | ||
| GREAL | tmax = G_REAL_INFINITY |
||
| ) | [inline] |
one direccion ray collision
Definition at line 349 of file gim_tri_collision.h.
Definition at line 128 of file gim_tri_collision.h.
| btVector3 GIM_TRIANGLE::m_vertices[3] |
Definition at line 129 of file gim_tri_collision.h.
