ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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  943. metadata +987 -0
@@ -0,0 +1,842 @@
1
+ #include "btInternalEdgeUtility.h"
2
+
3
+ #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
4
+ #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
5
+ #include "BulletCollision/CollisionShapes/btTriangleShape.h"
6
+ #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
7
+ #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
8
+ #include "LinearMath/btIDebugDraw.h"
9
+
10
+
11
+ //#define DEBUG_INTERNAL_EDGE
12
+
13
+ #ifdef DEBUG_INTERNAL_EDGE
14
+ #include <stdio.h>
15
+ #endif //DEBUG_INTERNAL_EDGE
16
+
17
+
18
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
19
+ static btIDebugDraw* gDebugDrawer = 0;
20
+
21
+ void btSetDebugDrawer(btIDebugDraw* debugDrawer)
22
+ {
23
+ gDebugDrawer = debugDrawer;
24
+ }
25
+
26
+ static void btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color)
27
+ {
28
+ if (gDebugDrawer)
29
+ gDebugDrawer->drawLine(from,to,color);
30
+ }
31
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
32
+
33
+
34
+ static int btGetHash(int partId, int triangleIndex)
35
+ {
36
+ int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
37
+ return hash;
38
+ }
39
+
40
+
41
+
42
+ static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB)
43
+ {
44
+ const btVector3 refAxis0 = edgeA;
45
+ const btVector3 refAxis1 = normalA;
46
+ const btVector3 swingAxis = normalB;
47
+ btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
48
+ return angle;
49
+ }
50
+
51
+
52
+ struct btConnectivityProcessor : public btTriangleCallback
53
+ {
54
+ int m_partIdA;
55
+ int m_triangleIndexA;
56
+ btVector3* m_triangleVerticesA;
57
+ btTriangleInfoMap* m_triangleInfoMap;
58
+
59
+
60
+ virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
61
+ {
62
+ //skip self-collisions
63
+ if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex))
64
+ return;
65
+
66
+ //skip duplicates (disabled for now)
67
+ //if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex))
68
+ // return;
69
+
70
+ //search for shared vertices and edges
71
+ int numshared = 0;
72
+ int sharedVertsA[3]={-1,-1,-1};
73
+ int sharedVertsB[3]={-1,-1,-1};
74
+
75
+ ///skip degenerate triangles
76
+ btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
77
+ if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
78
+ return;
79
+
80
+
81
+ btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
82
+ ///skip degenerate triangles
83
+ if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
84
+ return;
85
+
86
+ #if 0
87
+ printf("triangle A[0] = (%f,%f,%f)\ntriangle A[1] = (%f,%f,%f)\ntriangle A[2] = (%f,%f,%f)\n",
88
+ m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
89
+ m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(),
90
+ m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ());
91
+
92
+ printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex);
93
+ printf("triangle B[0] = (%f,%f,%f)\ntriangle B[1] = (%f,%f,%f)\ntriangle B[2] = (%f,%f,%f)\n",
94
+ triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(),
95
+ triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(),
96
+ triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
97
+ #endif
98
+
99
+ for (int i=0;i<3;i++)
100
+ {
101
+ for (int j=0;j<3;j++)
102
+ {
103
+ if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
104
+ {
105
+ sharedVertsA[numshared] = i;
106
+ sharedVertsB[numshared] = j;
107
+ numshared++;
108
+ ///degenerate case
109
+ if(numshared >= 3)
110
+ return;
111
+ }
112
+ }
113
+ ///degenerate case
114
+ if(numshared >= 3)
115
+ return;
116
+ }
117
+ switch (numshared)
118
+ {
119
+ case 0:
120
+ {
121
+ break;
122
+ }
123
+ case 1:
124
+ {
125
+ //shared vertex
126
+ break;
127
+ }
128
+ case 2:
129
+ {
130
+ //shared edge
131
+ //we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
132
+ if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2)
133
+ {
134
+ sharedVertsA[0] = 2;
135
+ sharedVertsA[1] = 0;
136
+ int tmp = sharedVertsB[1];
137
+ sharedVertsB[1] = sharedVertsB[0];
138
+ sharedVertsB[0] = tmp;
139
+ }
140
+
141
+ int hash = btGetHash(m_partIdA,m_triangleIndexA);
142
+
143
+ btTriangleInfo* info = m_triangleInfoMap->find(hash);
144
+ if (!info)
145
+ {
146
+ btTriangleInfo tmp;
147
+ m_triangleInfoMap->insert(hash,tmp);
148
+ info = m_triangleInfoMap->find(hash);
149
+ }
150
+
151
+ int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
152
+ int otherIndexA = 3-sumvertsA;
153
+
154
+
155
+ btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
156
+
157
+ btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
158
+ int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]);
159
+
160
+ btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]);
161
+ //btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
162
+
163
+ btVector3 normalA;
164
+ btVector3 normalB;
165
+ tA.calcNormal(normalA);
166
+ tB.calcNormal(normalB);
167
+ edge.normalize();
168
+ btVector3 edgeCrossA = edge.cross(normalA).normalize();
169
+
170
+ {
171
+ btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]];
172
+ if (edgeCrossA.dot(tmp) < 0)
173
+ {
174
+ edgeCrossA*=-1;
175
+ }
176
+ }
177
+
178
+ btVector3 edgeCrossB = edge.cross(normalB).normalize();
179
+
180
+ {
181
+ btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]];
182
+ if (edgeCrossB.dot(tmp) < 0)
183
+ {
184
+ edgeCrossB*=-1;
185
+ }
186
+ }
187
+
188
+ btScalar angle2 = 0;
189
+ btScalar ang4 = 0.f;
190
+
191
+
192
+ btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
193
+ btScalar len2 = calculatedEdge.length2();
194
+
195
+ btScalar correctedAngle(0);
196
+ btVector3 calculatedNormalB = normalA;
197
+ bool isConvex = false;
198
+
199
+ if (len2<m_triangleInfoMap->m_planarEpsilon)
200
+ {
201
+ angle2 = 0.f;
202
+ ang4 = 0.f;
203
+ } else
204
+ {
205
+
206
+ calculatedEdge.normalize();
207
+ btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
208
+ calculatedNormalA.normalize();
209
+ angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
210
+ ang4 = SIMD_PI-angle2;
211
+ btScalar dotA = normalA.dot(edgeCrossB);
212
+ ///@todo: check if we need some epsilon, due to floating point imprecision
213
+ isConvex = (dotA<0.);
214
+
215
+ correctedAngle = isConvex ? ang4 : -ang4;
216
+ btQuaternion orn2(calculatedEdge,-correctedAngle);
217
+ calculatedNormalB = btMatrix3x3(orn2)*normalA;
218
+
219
+
220
+ }
221
+
222
+
223
+
224
+
225
+
226
+ //alternatively use
227
+ //btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
228
+
229
+
230
+ switch (sumvertsA)
231
+ {
232
+ case 1:
233
+ {
234
+ btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
235
+ btQuaternion orn(edge,-correctedAngle);
236
+ btVector3 computedNormalB = quatRotate(orn,normalA);
237
+ btScalar bla = computedNormalB.dot(normalB);
238
+ if (bla<0)
239
+ {
240
+ computedNormalB*=-1;
241
+ info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
242
+ }
243
+ #ifdef DEBUG_INTERNAL_EDGE
244
+ if ((computedNormalB-normalB).length()>0.0001)
245
+ {
246
+ printf("warning: normals not identical\n");
247
+ }
248
+ #endif//DEBUG_INTERNAL_EDGE
249
+
250
+ info->m_edgeV0V1Angle = -correctedAngle;
251
+
252
+ if (isConvex)
253
+ info->m_flags |= TRI_INFO_V0V1_CONVEX;
254
+ break;
255
+ }
256
+ case 2:
257
+ {
258
+ btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
259
+ btQuaternion orn(edge,-correctedAngle);
260
+ btVector3 computedNormalB = quatRotate(orn,normalA);
261
+ if (computedNormalB.dot(normalB)<0)
262
+ {
263
+ computedNormalB*=-1;
264
+ info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
265
+ }
266
+
267
+ #ifdef DEBUG_INTERNAL_EDGE
268
+ if ((computedNormalB-normalB).length()>0.0001)
269
+ {
270
+ printf("warning: normals not identical\n");
271
+ }
272
+ #endif //DEBUG_INTERNAL_EDGE
273
+ info->m_edgeV2V0Angle = -correctedAngle;
274
+ if (isConvex)
275
+ info->m_flags |= TRI_INFO_V2V0_CONVEX;
276
+ break;
277
+ }
278
+ case 3:
279
+ {
280
+ btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
281
+ btQuaternion orn(edge,-correctedAngle);
282
+ btVector3 computedNormalB = quatRotate(orn,normalA);
283
+ if (computedNormalB.dot(normalB)<0)
284
+ {
285
+ info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
286
+ computedNormalB*=-1;
287
+ }
288
+ #ifdef DEBUG_INTERNAL_EDGE
289
+ if ((computedNormalB-normalB).length()>0.0001)
290
+ {
291
+ printf("warning: normals not identical\n");
292
+ }
293
+ #endif //DEBUG_INTERNAL_EDGE
294
+ info->m_edgeV1V2Angle = -correctedAngle;
295
+
296
+ if (isConvex)
297
+ info->m_flags |= TRI_INFO_V1V2_CONVEX;
298
+ break;
299
+ }
300
+ }
301
+
302
+ break;
303
+ }
304
+ default:
305
+ {
306
+ // printf("warning: duplicate triangle\n");
307
+ }
308
+
309
+ }
310
+ }
311
+ };
312
+ /////////////////////////////////////////////////////////
313
+ /////////////////////////////////////////////////////////
314
+
315
+ void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap)
316
+ {
317
+ //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
318
+ if (trimeshShape->getTriangleInfoMap())
319
+ return;
320
+
321
+ trimeshShape->setTriangleInfoMap(triangleInfoMap);
322
+
323
+ btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
324
+ const btVector3& meshScaling = meshInterface->getScaling();
325
+
326
+ for (int partId = 0; partId< meshInterface->getNumSubParts();partId++)
327
+ {
328
+ const unsigned char *vertexbase = 0;
329
+ int numverts = 0;
330
+ PHY_ScalarType type = PHY_INTEGER;
331
+ int stride = 0;
332
+ const unsigned char *indexbase = 0;
333
+ int indexstride = 0;
334
+ int numfaces = 0;
335
+ PHY_ScalarType indicestype = PHY_INTEGER;
336
+ //PHY_ScalarType indexType=0;
337
+
338
+ btVector3 triangleVerts[3];
339
+ meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
340
+ btVector3 aabbMin,aabbMax;
341
+
342
+ for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
343
+ {
344
+ unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
345
+
346
+ for (int j=2;j>=0;j--)
347
+ {
348
+
349
+ int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
350
+ if (type == PHY_FLOAT)
351
+ {
352
+ float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
353
+ triangleVerts[j] = btVector3(
354
+ graphicsbase[0]*meshScaling.getX(),
355
+ graphicsbase[1]*meshScaling.getY(),
356
+ graphicsbase[2]*meshScaling.getZ());
357
+ }
358
+ else
359
+ {
360
+ double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
361
+ triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
362
+ }
363
+ }
364
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
365
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
366
+ aabbMin.setMin(triangleVerts[0]);
367
+ aabbMax.setMax(triangleVerts[0]);
368
+ aabbMin.setMin(triangleVerts[1]);
369
+ aabbMax.setMax(triangleVerts[1]);
370
+ aabbMin.setMin(triangleVerts[2]);
371
+ aabbMax.setMax(triangleVerts[2]);
372
+
373
+ btConnectivityProcessor connectivityProcessor;
374
+ connectivityProcessor.m_partIdA = partId;
375
+ connectivityProcessor.m_triangleIndexA = triangleIndex;
376
+ connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
377
+ connectivityProcessor.m_triangleInfoMap = triangleInfoMap;
378
+
379
+ trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax);
380
+ }
381
+
382
+ }
383
+
384
+ }
385
+
386
+
387
+
388
+
389
+ // Given a point and a line segment (defined by two points), compute the closest point
390
+ // in the line. Cap the point at the endpoints of the line segment.
391
+ void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
392
+ {
393
+ btVector3 lineDelta = line1 - line0;
394
+
395
+ // Handle degenerate lines
396
+ if ( lineDelta.fuzzyZero())
397
+ {
398
+ nearestPoint = line0;
399
+ }
400
+ else
401
+ {
402
+ btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
403
+
404
+ // Clamp the point to conform to the segment's endpoints
405
+ if ( delta < 0 )
406
+ delta = 0;
407
+ else if ( delta > 1 )
408
+ delta = 1;
409
+
410
+ nearestPoint = line0 + lineDelta*delta;
411
+ }
412
+ }
413
+
414
+
415
+
416
+
417
+ bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal)
418
+ {
419
+ btVector3 tri_normal = tri_normal_org;
420
+ //we only have a local triangle normal, not a local contact normal -> only normal in world space...
421
+ //either compute the current angle all in local space, or all in world space
422
+
423
+ btVector3 edgeCross = edge.cross(tri_normal).normalize();
424
+ btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
425
+
426
+ if (correctedEdgeAngle<0)
427
+ {
428
+ if (curAngle < correctedEdgeAngle)
429
+ {
430
+ btScalar diffAngle = correctedEdgeAngle-curAngle;
431
+ btQuaternion rotation(edge,diffAngle );
432
+ clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
433
+ return true;
434
+ }
435
+ }
436
+
437
+ if (correctedEdgeAngle>=0)
438
+ {
439
+ if (curAngle > correctedEdgeAngle)
440
+ {
441
+ btScalar diffAngle = correctedEdgeAngle-curAngle;
442
+ btQuaternion rotation(edge,diffAngle );
443
+ clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
444
+ return true;
445
+ }
446
+ }
447
+ return false;
448
+ }
449
+
450
+
451
+
452
+ /// Changes a btManifoldPoint collision normal to the normal from the mesh.
453
+ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
454
+ {
455
+ //btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
456
+ if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
457
+ return;
458
+
459
+ btBvhTriangleMeshShape* trimesh = 0;
460
+
461
+ if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
462
+ trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
463
+ else
464
+ trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
465
+
466
+ btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
467
+ if (!triangleInfoMapPtr)
468
+ return;
469
+
470
+ int hash = btGetHash(partId0,index0);
471
+
472
+
473
+ btTriangleInfo* info = triangleInfoMapPtr->find(hash);
474
+ if (!info)
475
+ return;
476
+
477
+ btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
478
+
479
+ const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
480
+ btVector3 v0,v1,v2;
481
+ tri_shape->getVertex(0,v0);
482
+ tri_shape->getVertex(1,v1);
483
+ tri_shape->getVertex(2,v2);
484
+
485
+ btVector3 center = (v0+v1+v2)*btScalar(1./3.);
486
+
487
+ btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
488
+ btVector3 tri_normal;
489
+ tri_shape->calcNormal(tri_normal);
490
+
491
+ //btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
492
+ btVector3 nearest;
493
+ btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
494
+
495
+ btVector3 contact = cp.m_localPointB;
496
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
497
+ const btTransform& tr = colObj0->getWorldTransform();
498
+ btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
499
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
500
+
501
+
502
+
503
+ bool isNearEdge = false;
504
+
505
+ int numConcaveEdgeHits = 0;
506
+ int numConvexEdgeHits = 0;
507
+
508
+ btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
509
+ localContactNormalOnB.normalize();//is this necessary?
510
+
511
+ // Get closest edge
512
+ int bestedge=-1;
513
+ btScalar disttobestedge=BT_LARGE_FLOAT;
514
+ //
515
+ // Edge 0 -> 1
516
+ if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
517
+ {
518
+ btVector3 nearest;
519
+ btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest );
520
+ btScalar len=(contact-nearest).length();
521
+ //
522
+ if( len < disttobestedge )
523
+ {
524
+ bestedge=0;
525
+ disttobestedge=len;
526
+ }
527
+ }
528
+ // Edge 1 -> 2
529
+ if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
530
+ {
531
+ btVector3 nearest;
532
+ btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest );
533
+ btScalar len=(contact-nearest).length();
534
+ //
535
+ if( len < disttobestedge )
536
+ {
537
+ bestedge=1;
538
+ disttobestedge=len;
539
+ }
540
+ }
541
+ // Edge 2 -> 0
542
+ if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
543
+ {
544
+ btVector3 nearest;
545
+ btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest );
546
+ btScalar len=(contact-nearest).length();
547
+ //
548
+ if( len < disttobestedge )
549
+ {
550
+ bestedge=2;
551
+ disttobestedge=len;
552
+ }
553
+ }
554
+
555
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
556
+ btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f);
557
+ btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red );
558
+ #endif
559
+ if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
560
+ {
561
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
562
+ btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
563
+ #endif
564
+ btScalar len = (contact-nearest).length();
565
+ if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
566
+ if( bestedge==0 )
567
+ {
568
+ btVector3 edge(v0-v1);
569
+ isNearEdge = true;
570
+
571
+ if (info->m_edgeV0V1Angle==btScalar(0))
572
+ {
573
+ numConcaveEdgeHits++;
574
+ } else
575
+ {
576
+
577
+ bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
578
+ btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
579
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
580
+ btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
581
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
582
+
583
+ btVector3 nA = swapFactor * tri_normal;
584
+
585
+ btQuaternion orn(edge,info->m_edgeV0V1Angle);
586
+ btVector3 computedNormalB = quatRotate(orn,tri_normal);
587
+ if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
588
+ computedNormalB*=-1;
589
+ btVector3 nB = swapFactor*computedNormalB;
590
+
591
+ btScalar NdotA = localContactNormalOnB.dot(nA);
592
+ btScalar NdotB = localContactNormalOnB.dot(nB);
593
+ bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
594
+
595
+ #ifdef DEBUG_INTERNAL_EDGE
596
+ {
597
+
598
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
599
+ }
600
+ #endif //DEBUG_INTERNAL_EDGE
601
+
602
+
603
+ if (backFacingNormal)
604
+ {
605
+ numConcaveEdgeHits++;
606
+ }
607
+ else
608
+ {
609
+ numConvexEdgeHits++;
610
+ btVector3 clampedLocalNormal;
611
+ bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
612
+ if (isClamped)
613
+ {
614
+ if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
615
+ {
616
+ btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
617
+ // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
618
+ cp.m_normalWorldOnB = newNormal;
619
+ // Reproject collision point along normal. (what about cp.m_distance1?)
620
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
621
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
622
+
623
+ }
624
+ }
625
+ }
626
+ }
627
+ }
628
+ }
629
+
630
+ btNearestPointInLineSegment(contact,v1,v2,nearest);
631
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
632
+ btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
633
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
634
+
635
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
636
+ btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green );
637
+ #endif
638
+
639
+ if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
640
+ {
641
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
642
+ btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
643
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
644
+
645
+
646
+
647
+ btScalar len = (contact-nearest).length();
648
+ if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
649
+ if( bestedge==1 )
650
+ {
651
+ isNearEdge = true;
652
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
653
+ btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
654
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
655
+
656
+ btVector3 edge(v1-v2);
657
+
658
+ isNearEdge = true;
659
+
660
+ if (info->m_edgeV1V2Angle == btScalar(0))
661
+ {
662
+ numConcaveEdgeHits++;
663
+ } else
664
+ {
665
+ bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0;
666
+ btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
667
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
668
+ btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
669
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
670
+
671
+ btVector3 nA = swapFactor * tri_normal;
672
+
673
+ btQuaternion orn(edge,info->m_edgeV1V2Angle);
674
+ btVector3 computedNormalB = quatRotate(orn,tri_normal);
675
+ if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
676
+ computedNormalB*=-1;
677
+ btVector3 nB = swapFactor*computedNormalB;
678
+
679
+ #ifdef DEBUG_INTERNAL_EDGE
680
+ {
681
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
682
+ }
683
+ #endif //DEBUG_INTERNAL_EDGE
684
+
685
+
686
+ btScalar NdotA = localContactNormalOnB.dot(nA);
687
+ btScalar NdotB = localContactNormalOnB.dot(nB);
688
+ bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
689
+
690
+ if (backFacingNormal)
691
+ {
692
+ numConcaveEdgeHits++;
693
+ }
694
+ else
695
+ {
696
+ numConvexEdgeHits++;
697
+ btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
698
+ btVector3 clampedLocalNormal;
699
+ bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
700
+ if (isClamped)
701
+ {
702
+ if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
703
+ {
704
+ btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
705
+ // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
706
+ cp.m_normalWorldOnB = newNormal;
707
+ // Reproject collision point along normal.
708
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
709
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
710
+ }
711
+ }
712
+ }
713
+ }
714
+ }
715
+ }
716
+
717
+ btNearestPointInLineSegment(contact,v2,v0,nearest);
718
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
719
+ btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
720
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
721
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
722
+ btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue );
723
+ #endif
724
+
725
+ if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
726
+ {
727
+
728
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
729
+ btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
730
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
731
+
732
+ btScalar len = (contact-nearest).length();
733
+ if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
734
+ if( bestedge==2 )
735
+ {
736
+ isNearEdge = true;
737
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
738
+ btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
739
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
740
+
741
+ btVector3 edge(v2-v0);
742
+
743
+ if (info->m_edgeV2V0Angle==btScalar(0))
744
+ {
745
+ numConcaveEdgeHits++;
746
+ } else
747
+ {
748
+
749
+ bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0;
750
+ btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
751
+ #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
752
+ btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
753
+ #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
754
+
755
+ btVector3 nA = swapFactor * tri_normal;
756
+ btQuaternion orn(edge,info->m_edgeV2V0Angle);
757
+ btVector3 computedNormalB = quatRotate(orn,tri_normal);
758
+ if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
759
+ computedNormalB*=-1;
760
+ btVector3 nB = swapFactor*computedNormalB;
761
+
762
+ #ifdef DEBUG_INTERNAL_EDGE
763
+ {
764
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
765
+ }
766
+ #endif //DEBUG_INTERNAL_EDGE
767
+
768
+ btScalar NdotA = localContactNormalOnB.dot(nA);
769
+ btScalar NdotB = localContactNormalOnB.dot(nB);
770
+ bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
771
+
772
+ if (backFacingNormal)
773
+ {
774
+ numConcaveEdgeHits++;
775
+ }
776
+ else
777
+ {
778
+ numConvexEdgeHits++;
779
+ // printf("hitting convex edge\n");
780
+
781
+
782
+ btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
783
+ btVector3 clampedLocalNormal;
784
+ bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
785
+ if (isClamped)
786
+ {
787
+ if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
788
+ {
789
+ btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
790
+ // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
791
+ cp.m_normalWorldOnB = newNormal;
792
+ // Reproject collision point along normal.
793
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
794
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
795
+ }
796
+ }
797
+ }
798
+ }
799
+
800
+
801
+ }
802
+ }
803
+
804
+ #ifdef DEBUG_INTERNAL_EDGE
805
+ {
806
+ btVector3 color(0,1,1);
807
+ btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
808
+ }
809
+ #endif //DEBUG_INTERNAL_EDGE
810
+
811
+ if (isNearEdge)
812
+ {
813
+
814
+ if (numConcaveEdgeHits>0)
815
+ {
816
+ if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0)
817
+ {
818
+ //fix tri_normal so it pointing the same direction as the current local contact normal
819
+ if (tri_normal.dot(localContactNormalOnB) < 0)
820
+ {
821
+ tri_normal *= -1;
822
+ }
823
+ cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
824
+ } else
825
+ {
826
+ btVector3 newNormal = tri_normal *frontFacing;
827
+ //if the tri_normal is pointing opposite direction as the current local contact normal, skip it
828
+ btScalar d = newNormal.dot(localContactNormalOnB) ;
829
+ if (d< 0)
830
+ {
831
+ return;
832
+ }
833
+ //modify the normal to be the triangle normal (or backfacing normal)
834
+ cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal;
835
+ }
836
+
837
+ // Reproject collision point along normal.
838
+ cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
839
+ cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
840
+ }
841
+ }
842
+ }