Class for colliding triangles. More...

#include <gim_tri_collision.h>

Collaboration diagram for GIM_TRIANGLE:

Public Member Functions
	GIM_TRIANGLE ()

GIM_AABB	get_box () const

void	get_normal (btVector3 &normal) const

void	get_plane (btVector4 &plane) const

void	apply_transform (const btTransform &trans)

void	get_edge_plane (GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const

void	get_triangle_transform (btTransform &triangle_transform) const
	Gets the relative transformation of this triangle. More...

bool	collide_triangle_hard_test (const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
	Test triangles by finding separating axis. More...

bool	collide_triangle (const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
	Test boxes before doing hard test. More...

bool	get_uv_parameters (const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const

bool	is_point_inside (const btVector3 &point, const btVector3 &tri_normal) const
	is point in triangle beam? More...

bool	ray_collision (const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
	Bidireccional ray collision. More...

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 More...

Public Attributes
btScalar	m_margin

btVector3	m_vertices [3]

Detailed Description

Class for colliding triangles.

Definition at line 125 of file gim_tri_collision.h.

Constructor & Destructor Documentation

GIM_TRIANGLE::GIM_TRIANGLE ( )

inline

Definition at line 131 of file gim_tri_collision.h.

Member Function Documentation

void GIM_TRIANGLE::apply_transform ( const btTransform & trans)

inline

Definition at line 150 of file gim_tri_collision.h.

bool GIM_TRIANGLE::collide_triangle	(	const GIM_TRIANGLE &	other,
		GIM_TRIANGLE_CONTACT_DATA &	contact_data
	)		const

inline

Test boxes before doing hard test.

Parameters

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.

Parameters

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 626 of file gim_tri_collision.cpp.

GIM_AABB GIM_TRIANGLE::get_box ( ) const

inline

Definition at line 135 of file gim_tri_collision.h.

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.

void GIM_TRIANGLE::get_normal ( btVector3 & normal) const

inline

Definition at line 140 of file gim_tri_collision.h.

void GIM_TRIANGLE::get_plane ( btVector4 & plane) const

inline

Definition at line 145 of file gim_tri_collision.h.

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:

triangle normal corresponds to Z axis.
1st normalized edge corresponds to X axis,

Definition at line 171 of file gim_tri_collision.h.

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

Returns: false if the point is outside of triangle.This function doesn't take the margin

Definition at line 247 of file gim_tri_collision.h.

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.

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.

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.

Member Data Documentation

btScalar GIM_TRIANGLE::m_margin

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.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation