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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@@ -0,0 +1,640 @@
1
+
2
+ /*! \file gim_tri_collision.h
3
+ \author Francisco Leon Najera
4
+ */
5
+ /*
6
+ -----------------------------------------------------------------------------
7
+ This source file is part of GIMPACT Library.
8
+
9
+ For the latest info, see http://gimpact.sourceforge.net/
10
+
11
+ Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
12
+ email: projectileman@yahoo.com
13
+
14
+ This library is free software; you can redistribute it and/or
15
+ modify it under the terms of EITHER:
16
+ (1) The GNU Lesser General Public License as published by the Free
17
+ Software Foundation; either version 2.1 of the License, or (at
18
+ your option) any later version. The text of the GNU Lesser
19
+ General Public License is included with this library in the
20
+ file GIMPACT-LICENSE-LGPL.TXT.
21
+ (2) The BSD-style license that is included with this library in
22
+ the file GIMPACT-LICENSE-BSD.TXT.
23
+ (3) The zlib/libpng license that is included with this library in
24
+ the file GIMPACT-LICENSE-ZLIB.TXT.
25
+
26
+ This library is distributed in the hope that it will be useful,
27
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
28
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
29
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
30
+
31
+ -----------------------------------------------------------------------------
32
+ */
33
+
34
+ #include "gim_tri_collision.h"
35
+
36
+
37
+ #define TRI_LOCAL_EPSILON 0.000001f
38
+ #define MIN_EDGE_EDGE_DIS 0.00001f
39
+
40
+
41
+ class GIM_TRIANGLE_CALCULATION_CACHE
42
+ {
43
+ public:
44
+ GREAL margin;
45
+ btVector3 tu_vertices[3];
46
+ btVector3 tv_vertices[3];
47
+ btVector4 tu_plane;
48
+ btVector4 tv_plane;
49
+ btVector3 closest_point_u;
50
+ btVector3 closest_point_v;
51
+ btVector3 edge_edge_dir;
52
+ btVector3 distances;
53
+ GREAL du[4];
54
+ GREAL du0du1;
55
+ GREAL du0du2;
56
+ GREAL dv[4];
57
+ GREAL dv0dv1;
58
+ GREAL dv0dv2;
59
+ btVector3 temp_points[MAX_TRI_CLIPPING];
60
+ btVector3 temp_points1[MAX_TRI_CLIPPING];
61
+ btVector3 contact_points[MAX_TRI_CLIPPING];
62
+
63
+
64
+
65
+ //! if returns false, the faces are paralele
66
+ SIMD_FORCE_INLINE bool compute_intervals(
67
+ const GREAL &D0,
68
+ const GREAL &D1,
69
+ const GREAL &D2,
70
+ const GREAL &D0D1,
71
+ const GREAL &D0D2,
72
+ GREAL & scale_edge0,
73
+ GREAL & scale_edge1,
74
+ GUINT &edge_index0,
75
+ GUINT &edge_index1)
76
+ {
77
+ if(D0D1>0.0f)
78
+ {
79
+ /* here we know that D0D2<=0.0 */
80
+ /* that is D0, D1 are on the same side, D2 on the other or on the plane */
81
+ scale_edge0 = -D2/(D0-D2);
82
+ scale_edge1 = -D1/(D2-D1);
83
+ edge_index0 = 2;edge_index1 = 1;
84
+ }
85
+ else if(D0D2>0.0f)
86
+ {
87
+ /* here we know that d0d1<=0.0 */
88
+ scale_edge0 = -D0/(D1-D0);
89
+ scale_edge1 = -D1/(D2-D1);
90
+ edge_index0 = 0;edge_index1 = 1;
91
+ }
92
+ else if(D1*D2>0.0f || D0!=0.0f)
93
+ {
94
+ /* here we know that d0d1<=0.0 or that D0!=0.0 */
95
+ scale_edge0 = -D0/(D1-D0);
96
+ scale_edge1 = -D2/(D0-D2);
97
+ edge_index0 = 0 ;edge_index1 = 2;
98
+ }
99
+ else
100
+ {
101
+ return false;
102
+ }
103
+ return true;
104
+ }
105
+
106
+
107
+ //! clip triangle
108
+ /*!
109
+ */
110
+ SIMD_FORCE_INLINE GUINT clip_triangle(
111
+ const btVector4 & tri_plane,
112
+ const btVector3 * tripoints,
113
+ const btVector3 * srcpoints,
114
+ btVector3 * clip_points)
115
+ {
116
+ // edge 0
117
+
118
+ btVector4 edgeplane;
119
+
120
+ EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
121
+
122
+ GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
123
+ edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
124
+
125
+ if(clipped_count == 0) return 0;
126
+
127
+ // edge 1
128
+
129
+ EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
130
+
131
+ clipped_count = PLANE_CLIP_POLYGON3D(
132
+ edgeplane,temp_points,clipped_count,temp_points1);
133
+
134
+ if(clipped_count == 0) return 0;
135
+
136
+ // edge 2
137
+
138
+ EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
139
+
140
+ clipped_count = PLANE_CLIP_POLYGON3D(
141
+ edgeplane,temp_points1,clipped_count,clip_points);
142
+
143
+ return clipped_count;
144
+
145
+
146
+ /*GUINT i0 = (tri_plane.closestAxis()+1)%3;
147
+ GUINT i1 = (i0+1)%3;
148
+ // edge 0
149
+ btVector3 temp_points[MAX_TRI_CLIPPING];
150
+ btVector3 temp_points1[MAX_TRI_CLIPPING];
151
+
152
+ GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC(
153
+ 0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points,
154
+ DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1));
155
+
156
+
157
+ if(clipped_count == 0) return 0;
158
+
159
+ // edge 1
160
+ clipped_count = PLANE_CLIP_POLYGON_GENERIC(
161
+ 0,temp_points,clipped_count,temp_points1,
162
+ DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1));
163
+
164
+ if(clipped_count == 0) return 0;
165
+
166
+ // edge 2
167
+ clipped_count = PLANE_CLIP_POLYGON_GENERIC(
168
+ 0,temp_points1,clipped_count,clipped_points,
169
+ DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1));
170
+
171
+ return clipped_count;*/
172
+ }
173
+
174
+ SIMD_FORCE_INLINE void sort_isect(
175
+ GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1)
176
+ {
177
+ if(isect1<isect0)
178
+ {
179
+ //swap
180
+ GIM_SWAP_NUMBERS(isect0,isect1);
181
+ GIM_SWAP_NUMBERS(e0,e1);
182
+ btVector3 tmp = vec0;
183
+ vec0 = vec1;
184
+ vec1 = tmp;
185
+ }
186
+ }
187
+
188
+ //! Test verifying interval intersection with the direction between planes
189
+ /*!
190
+ \pre tv_plane and tu_plane must be set
191
+ \post
192
+ distances[2] is set with the distance
193
+ closest_point_u, closest_point_v, edge_edge_dir are set too
194
+ \return
195
+ - 0: faces are paralele
196
+ - 1: face U casts face V
197
+ - 2: face V casts face U
198
+ - 3: nearest edges
199
+ */
200
+ SIMD_FORCE_INLINE GUINT cross_line_intersection_test()
201
+ {
202
+ // Compute direction of intersection line
203
+ edge_edge_dir = tu_plane.cross(tv_plane);
204
+ GREAL Dlen;
205
+ VEC_LENGTH(edge_edge_dir,Dlen);
206
+
207
+ if(Dlen<0.0001)
208
+ {
209
+ return 0; //faces near paralele
210
+ }
211
+
212
+ edge_edge_dir*= 1/Dlen;//normalize
213
+
214
+
215
+ // Compute interval for triangle 1
216
+ GUINT tu_e0,tu_e1;//edge indices
217
+ GREAL tu_scale_e0,tu_scale_e1;//edge scale
218
+ if(!compute_intervals(du[0],du[1],du[2],
219
+ du0du1,du0du2,tu_scale_e0,tu_scale_e1,tu_e0,tu_e1)) return 0;
220
+
221
+ // Compute interval for triangle 2
222
+ GUINT tv_e0,tv_e1;//edge indices
223
+ GREAL tv_scale_e0,tv_scale_e1;//edge scale
224
+
225
+ if(!compute_intervals(dv[0],dv[1],dv[2],
226
+ dv0dv1,dv0dv2,tv_scale_e0,tv_scale_e1,tv_e0,tv_e1)) return 0;
227
+
228
+ //proyected vertices
229
+ btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0+1)%3],tu_scale_e0);
230
+ btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1+1)%3],tu_scale_e1);
231
+
232
+ btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0+1)%3],tv_scale_e0);
233
+ btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1+1)%3],tv_scale_e1);
234
+
235
+ //proyected intervals
236
+ GREAL isect_u[] = {up_e0.dot(edge_edge_dir),up_e1.dot(edge_edge_dir)};
237
+ GREAL isect_v[] = {vp_e0.dot(edge_edge_dir),vp_e1.dot(edge_edge_dir)};
238
+
239
+ sort_isect(isect_u[0],isect_u[1],tu_e0,tu_e1,up_e0,up_e1);
240
+ sort_isect(isect_v[0],isect_v[1],tv_e0,tv_e1,vp_e0,vp_e1);
241
+
242
+ const GREAL midpoint_u = 0.5f*(isect_u[0]+isect_u[1]); // midpoint
243
+ const GREAL midpoint_v = 0.5f*(isect_v[0]+isect_v[1]); // midpoint
244
+
245
+ if(midpoint_u<midpoint_v)
246
+ {
247
+ if(isect_u[1]>=isect_v[1]) // face U casts face V
248
+ {
249
+ return 1;
250
+ }
251
+ else if(isect_v[0]<=isect_u[0]) // face V casts face U
252
+ {
253
+ return 2;
254
+ }
255
+ // closest points
256
+ closest_point_u = up_e1;
257
+ closest_point_v = vp_e0;
258
+ // calc edges and separation
259
+
260
+ if(isect_u[1]+ MIN_EDGE_EDGE_DIS<isect_v[0]) //calc distance between two lines instead
261
+ {
262
+ SEGMENT_COLLISION(
263
+ tu_vertices[tu_e1],tu_vertices[(tu_e1+1)%3],
264
+ tv_vertices[tv_e0],tv_vertices[(tv_e0+1)%3],
265
+ closest_point_u,
266
+ closest_point_v);
267
+
268
+ edge_edge_dir = closest_point_u-closest_point_v;
269
+ VEC_LENGTH(edge_edge_dir,distances[2]);
270
+ edge_edge_dir *= 1.0f/distances[2];// normalize
271
+ }
272
+ else
273
+ {
274
+ distances[2] = isect_v[0]-isect_u[1];//distance negative
275
+ //edge_edge_dir *= -1.0f; //normal pointing from V to U
276
+ }
277
+
278
+ }
279
+ else
280
+ {
281
+ if(isect_v[1]>=isect_u[1]) // face V casts face U
282
+ {
283
+ return 2;
284
+ }
285
+ else if(isect_u[0]<=isect_v[0]) // face U casts face V
286
+ {
287
+ return 1;
288
+ }
289
+ // closest points
290
+ closest_point_u = up_e0;
291
+ closest_point_v = vp_e1;
292
+ // calc edges and separation
293
+
294
+ if(isect_v[1]+MIN_EDGE_EDGE_DIS<isect_u[0]) //calc distance between two lines instead
295
+ {
296
+ SEGMENT_COLLISION(
297
+ tu_vertices[tu_e0],tu_vertices[(tu_e0+1)%3],
298
+ tv_vertices[tv_e1],tv_vertices[(tv_e1+1)%3],
299
+ closest_point_u,
300
+ closest_point_v);
301
+
302
+ edge_edge_dir = closest_point_u-closest_point_v;
303
+ VEC_LENGTH(edge_edge_dir,distances[2]);
304
+ edge_edge_dir *= 1.0f/distances[2];// normalize
305
+ }
306
+ else
307
+ {
308
+ distances[2] = isect_u[0]-isect_v[1];//distance negative
309
+ //edge_edge_dir *= -1.0f; //normal pointing from V to U
310
+ }
311
+ }
312
+ return 3;
313
+ }
314
+
315
+
316
+ //! collides by two sides
317
+ SIMD_FORCE_INLINE bool triangle_collision(
318
+ const btVector3 & u0,
319
+ const btVector3 & u1,
320
+ const btVector3 & u2,
321
+ GREAL margin_u,
322
+ const btVector3 & v0,
323
+ const btVector3 & v1,
324
+ const btVector3 & v2,
325
+ GREAL margin_v,
326
+ GIM_TRIANGLE_CONTACT_DATA & contacts)
327
+ {
328
+
329
+ margin = margin_u + margin_v;
330
+
331
+ tu_vertices[0] = u0;
332
+ tu_vertices[1] = u1;
333
+ tu_vertices[2] = u2;
334
+
335
+ tv_vertices[0] = v0;
336
+ tv_vertices[1] = v1;
337
+ tv_vertices[2] = v2;
338
+
339
+ //create planes
340
+ // plane v vs U points
341
+
342
+ TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],tv_plane);
343
+
344
+ du[0] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[0]);
345
+ du[1] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[1]);
346
+ du[2] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[2]);
347
+
348
+
349
+ du0du1 = du[0] * du[1];
350
+ du0du2 = du[0] * du[2];
351
+
352
+
353
+ if(du0du1>0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ?
354
+ {
355
+ if(du[0]<0) //we need test behind the triangle plane
356
+ {
357
+ distances[0] = GIM_MAX3(du[0],du[1],du[2]);
358
+ distances[0] = -distances[0];
359
+ if(distances[0]>margin) return false; //never intersect
360
+
361
+ //reorder triangle v
362
+ VEC_SWAP(tv_vertices[0],tv_vertices[1]);
363
+ VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
364
+ }
365
+ else
366
+ {
367
+ distances[0] = GIM_MIN3(du[0],du[1],du[2]);
368
+ if(distances[0]>margin) return false; //never intersect
369
+ }
370
+ }
371
+ else
372
+ {
373
+ //Look if we need to invert the triangle
374
+ distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid
375
+
376
+ if(distances[0]<0.0f)
377
+ {
378
+ //reorder triangle v
379
+ VEC_SWAP(tv_vertices[0],tv_vertices[1]);
380
+ VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
381
+
382
+ distances[0] = GIM_MAX3(du[0],du[1],du[2]);
383
+ distances[0] = -distances[0];
384
+ }
385
+ else
386
+ {
387
+ distances[0] = GIM_MIN3(du[0],du[1],du[2]);
388
+ }
389
+ }
390
+
391
+
392
+ // plane U vs V points
393
+
394
+ TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane);
395
+
396
+ dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]);
397
+ dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]);
398
+ dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]);
399
+
400
+ dv0dv1 = dv[0] * dv[1];
401
+ dv0dv2 = dv[0] * dv[2];
402
+
403
+
404
+ if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ?
405
+ {
406
+ if(dv[0]<0) //we need test behind the triangle plane
407
+ {
408
+ distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
409
+ distances[1] = -distances[1];
410
+ if(distances[1]>margin) return false; //never intersect
411
+
412
+ //reorder triangle u
413
+ VEC_SWAP(tu_vertices[0],tu_vertices[1]);
414
+ VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
415
+ }
416
+ else
417
+ {
418
+ distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
419
+ if(distances[1]>margin) return false; //never intersect
420
+ }
421
+ }
422
+ else
423
+ {
424
+ //Look if we need to invert the triangle
425
+ distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid
426
+
427
+ if(distances[1]<0.0f)
428
+ {
429
+ //reorder triangle v
430
+ VEC_SWAP(tu_vertices[0],tu_vertices[1]);
431
+ VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
432
+
433
+ distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
434
+ distances[1] = -distances[1];
435
+ }
436
+ else
437
+ {
438
+ distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
439
+ }
440
+ }
441
+
442
+ GUINT bl;
443
+ /* bl = cross_line_intersection_test();
444
+ if(bl==3)
445
+ {
446
+ //take edge direction too
447
+ bl = distances.maxAxis();
448
+ }
449
+ else
450
+ {*/
451
+ bl = 0;
452
+ if(distances[0]<distances[1]) bl = 1;
453
+ //}
454
+
455
+ if(bl==2) //edge edge separation
456
+ {
457
+ if(distances[2]>margin) return false;
458
+
459
+ contacts.m_penetration_depth = -distances[2] + margin;
460
+ contacts.m_points[0] = closest_point_v;
461
+ contacts.m_point_count = 1;
462
+ VEC_COPY(contacts.m_separating_normal,edge_edge_dir);
463
+
464
+ return true;
465
+ }
466
+
467
+ //clip face against other
468
+
469
+
470
+ GUINT point_count;
471
+ //TODO
472
+ if(bl == 0) //clip U points against V
473
+ {
474
+ point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points);
475
+ if(point_count == 0) return false;
476
+ contacts.merge_points(tv_plane,margin,contact_points,point_count);
477
+ }
478
+ else //clip V points against U
479
+ {
480
+ point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points);
481
+ if(point_count == 0) return false;
482
+ contacts.merge_points(tu_plane,margin,contact_points,point_count);
483
+ contacts.m_separating_normal *= -1.f;
484
+ }
485
+ if(contacts.m_point_count == 0) return false;
486
+ return true;
487
+ }
488
+
489
+ };
490
+
491
+
492
+ /*class GIM_TRIANGLE_CALCULATION_CACHE
493
+ {
494
+ public:
495
+ GREAL margin;
496
+ GUINT clipped_count;
497
+ btVector3 tu_vertices[3];
498
+ btVector3 tv_vertices[3];
499
+ btVector3 temp_points[MAX_TRI_CLIPPING];
500
+ btVector3 temp_points1[MAX_TRI_CLIPPING];
501
+ btVector3 clipped_points[MAX_TRI_CLIPPING];
502
+ GIM_TRIANGLE_CONTACT_DATA contacts1;
503
+ GIM_TRIANGLE_CONTACT_DATA contacts2;
504
+
505
+
506
+ //! clip triangle
507
+ GUINT clip_triangle(
508
+ const btVector4 & tri_plane,
509
+ const btVector3 * tripoints,
510
+ const btVector3 * srcpoints,
511
+ btVector3 * clipped_points)
512
+ {
513
+ // edge 0
514
+
515
+ btVector4 edgeplane;
516
+
517
+ EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
518
+
519
+ GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
520
+ edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
521
+
522
+ if(clipped_count == 0) return 0;
523
+
524
+ // edge 1
525
+
526
+ EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
527
+
528
+ clipped_count = PLANE_CLIP_POLYGON3D(
529
+ edgeplane,temp_points,clipped_count,temp_points1);
530
+
531
+ if(clipped_count == 0) return 0;
532
+
533
+ // edge 2
534
+
535
+ EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
536
+
537
+ clipped_count = PLANE_CLIP_POLYGON3D(
538
+ edgeplane,temp_points1,clipped_count,clipped_points);
539
+
540
+ return clipped_count;
541
+ }
542
+
543
+
544
+
545
+
546
+ //! collides only on one side
547
+ bool triangle_collision(
548
+ const btVector3 & u0,
549
+ const btVector3 & u1,
550
+ const btVector3 & u2,
551
+ GREAL margin_u,
552
+ const btVector3 & v0,
553
+ const btVector3 & v1,
554
+ const btVector3 & v2,
555
+ GREAL margin_v,
556
+ GIM_TRIANGLE_CONTACT_DATA & contacts)
557
+ {
558
+
559
+ margin = margin_u + margin_v;
560
+
561
+
562
+ tu_vertices[0] = u0;
563
+ tu_vertices[1] = u1;
564
+ tu_vertices[2] = u2;
565
+
566
+ tv_vertices[0] = v0;
567
+ tv_vertices[1] = v1;
568
+ tv_vertices[2] = v2;
569
+
570
+ //create planes
571
+ // plane v vs U points
572
+
573
+
574
+ TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal);
575
+
576
+ clipped_count = clip_triangle(
577
+ contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points);
578
+
579
+ if(clipped_count == 0 )
580
+ {
581
+ return false;//Reject
582
+ }
583
+
584
+ //find most deep interval face1
585
+ contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
586
+ if(contacts1.m_point_count == 0) return false; // too far
587
+
588
+ //Normal pointing to triangle1
589
+ //contacts1.m_separating_normal *= -1.f;
590
+
591
+ //Clip tri1 by tri2 edges
592
+
593
+ TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal);
594
+
595
+ clipped_count = clip_triangle(
596
+ contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points);
597
+
598
+ if(clipped_count == 0 )
599
+ {
600
+ return false;//Reject
601
+ }
602
+
603
+ //find most deep interval face1
604
+ contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
605
+ if(contacts2.m_point_count == 0) return false; // too far
606
+
607
+ contacts2.m_separating_normal *= -1.f;
608
+
609
+ ////check most dir for contacts
610
+ if(contacts2.m_penetration_depth<contacts1.m_penetration_depth)
611
+ {
612
+ contacts.copy_from(contacts2);
613
+ }
614
+ else
615
+ {
616
+ contacts.copy_from(contacts1);
617
+ }
618
+ return true;
619
+ }
620
+
621
+
622
+ };*/
623
+
624
+
625
+
626
+ bool GIM_TRIANGLE::collide_triangle_hard_test(
627
+ const GIM_TRIANGLE & other,
628
+ GIM_TRIANGLE_CONTACT_DATA & contact_data) const
629
+ {
630
+ GIM_TRIANGLE_CALCULATION_CACHE calc_cache;
631
+ return calc_cache.triangle_collision(
632
+ m_vertices[0],m_vertices[1],m_vertices[2],m_margin,
633
+ other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin,
634
+ contact_data);
635
+
636
+ }
637
+
638
+
639
+
640
+