public void GetBulletTriangle(int prim_index, TriangleShapeEx triangle)
{
GetIndices(prim_index, out indicesHolder[0], out indicesHolder[1], out indicesHolder[2]);
GetVertex(indicesHolder[0], out triangle.m_vertices1[0]);
GetVertex(indicesHolder[1], out triangle.m_vertices1[1]);
GetVertex(indicesHolder[2], out triangle.m_vertices1[2]);
triangle.SetMargin(m_margin);
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
TriangleShapeEx tri1 = new TriangleShapeEx(ref triangle[0], ref triangle[1], ref triangle[2]);
tri1.SetMargin(margin);
if (swapped)
{
algorithm.SetPart0(partId);
algorithm.SetFace0(triangleIndex);
}
else
{
algorithm.SetPart1(partId);
algorithm.SetFace1(triangleIndex);
}
algorithm.GImpactVsShape(body0, body1, gimpactshape0, tri1, swapped);
}
//! Collision routines
//!@{
protected void CollideGjkTriangles(CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
GImpactMeshShapePart shape1,
ObjectArray <int> pairs, int pair_count)
{
TriangleShapeEx tri0 = new TriangleShapeEx();
TriangleShapeEx tri1 = new TriangleShapeEx();
shape0.LockChildShapes();
shape1.LockChildShapes();
int pair_pointer = 0;
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideGjkTriangles [{0}]", pair_count);
}
#endif
while (pair_count-- != 0)
{
m_triface0 = pairs[pair_pointer];
m_triface1 = pairs[pair_pointer + 1];
pair_pointer += 2;
shape0.GetBulletTriangle(m_triface0, tri0);
shape1.GetBulletTriangle(m_triface1, tri1);
//collide two convex shapes
if (tri0.OverlapTestConservative(tri1))
{
ConvexVsConvexCollision(body0, body1, tri0, tri1);
}
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
public bool OverlapTestConservative(TriangleShapeEx other)
{
float total_margin = GetMargin() + other.GetMargin();
IndexedVector4 plane0;
BuildTriPlane(out plane0);
IndexedVector4 plane1;
other.BuildTriPlane(out plane1);
// classify points on other triangle
float dis0 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[0]) - total_margin;
float dis1 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[1]) - total_margin;
float dis2 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
// classify points on this triangle
dis0 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[0]) - total_margin;
dis1 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[1]) - total_margin;
dis2 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
return(true);
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
TriangleShapeEx tri1 = new TriangleShapeEx(ref triangle[0], ref triangle[1], ref triangle[2]);
tri1.SetMargin(margin);
if (swapped)
{
algorithm.SetPart0(partId);
algorithm.SetFace0(triangleIndex);
}
else
{
algorithm.SetPart1(partId);
algorithm.SetFace1(triangleIndex);
}
algorithm.GImpactVsShape(body0, body1, gimpactshape0, tri1, swapped);
}
//! Collision routines
//!@{
protected void CollideGjkTriangles(CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
GImpactMeshShapePart shape1,
ObjectArray<int> pairs, int pair_count)
{
TriangleShapeEx tri0 = new TriangleShapeEx();
TriangleShapeEx tri1 = new TriangleShapeEx();
shape0.LockChildShapes();
shape1.LockChildShapes();
int pair_pointer = 0;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideGjkTriangles [{0}]", pair_count);
}
while (pair_count-- != 0)
{
m_triface0 = pairs[pair_pointer];
m_triface1 = pairs[pair_pointer + 1];
pair_pointer += 2;
shape0.GetBulletTriangle(m_triface0, tri0);
shape1.GetBulletTriangle(m_triface1, tri1);
//collide two convex shapes
if (tri0.OverlapTestConservative(tri1))
{
ConvexVsConvexCollision(body0, body1, tri0, tri1);
}
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
public override void GetBulletTriangle(int prim_index, TriangleShapeEx triangle)
{
m_primitive_manager.GetBulletTriangle(prim_index, triangle);
}
public override void GetBulletTriangle(int prim_index, TriangleShapeEx triangle)
{
Debug.Assert(false);
}
public abstract void GetBulletTriangle(int prim_index, TriangleShapeEx triangle);
public override void GetBulletTriangle(int prim_index, TriangleShapeEx triangle)
{
m_primitive_manager.GetBulletTriangle(prim_index, triangle);
}
public void GetBulletTriangle(int prim_index, TriangleShapeEx triangle)
{
GetIndices(prim_index, out indicesHolder[0], out indicesHolder[1], out indicesHolder[2]);
GetVertex(indicesHolder[0], out triangle.m_vertices1[0]);
GetVertex(indicesHolder[1], out triangle.m_vertices1[1]);
GetVertex(indicesHolder[2], out triangle.m_vertices1[2]);
triangle.SetMargin(m_margin);
}
public override void GetBulletTriangle(int prim_index, TriangleShapeEx triangle)
{
Debug.Assert(false);
}
public abstract void GetBulletTriangle(int prim_index, TriangleShapeEx triangle);
public bool OverlapTestConservative(TriangleShapeEx other)
{
float total_margin = GetMargin() + other.GetMargin();
IndexedVector4 plane0;
BuildTriPlane(out plane0);
IndexedVector4 plane1;
other.BuildTriPlane(out plane1);
// classify points on other triangle
float dis0 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[0]) - total_margin;
float dis1 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[1]) - total_margin;
float dis2 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
// classify points on this triangle
dis0 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[0]) - total_margin;
dis1 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[1]) - total_margin;
dis2 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) return false;
return true;
}
public TriangleShapeEx(TriangleShapeEx other)
: base(ref other.m_vertices1[0], ref other.m_vertices1[1], ref other.m_vertices1[2])
{
}
public TriangleShapeEx(TriangleShapeEx other)
: base(ref other.m_vertices1[0], ref other.m_vertices1[1], ref other.m_vertices1[2])
{
}
