moved a few Extras projects into Extras/obsolete.
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erwin.coumans
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Extras/obsolete/SATConvexCollision/Hull.h
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174
Extras/obsolete/SATConvexCollision/Hull.h
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// Bullet Continuous Collision Detection and Physics Library
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// Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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//
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//
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// Hull.h
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//
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// Copyright (c) 2006 Simon Hobbs
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//
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// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
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//
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// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
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//
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// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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//
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// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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#ifndef SAT_HULL_H
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#define SAT_HULL_H
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#include "Maths.h"
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#include "Shape.h"
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class DynWorld;
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class HullContactCollector;
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/// Hull implements a convex collision detection algorithm based on Separating Axis Theorem (SAT). It is an alternative to GJK.
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/// It calculates the separating axis, and based on that it calculates the contact manifold (points) in one go.
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/// The separating axis calculation is approximated, not all edge-edge calculations are performed (performance reasons).
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/// Future idea is to combine this with GJK for polyhedra: GJK to calculate the separating axis, and Hull clipping code to calculate the full set of contacts.
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class Hull : public Shape
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{
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friend class ShapeCollider;
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public:
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struct Edge
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{
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short m_verts[2];
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short m_faces[2];
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short m_nextEdge[2]; // for each m_face
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};
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struct Face
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{
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short m_numEdges;
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short m_firstEdge;
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};
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private:
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static const int kMaxVerts = 256;
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static const int kMaxFaces = 256;
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static const int kMaxEdges = 256;
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short m_numVerts;
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short m_numFaces;
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short m_numEdges;
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Point3* m_pVerts;
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Face* m_pFaces;
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Edge* m_pEdges;
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Plane* m_pPlanes;
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// hull construction stuff
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static const int kTmpFaceMaxVerts = 64;
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struct TmpFace
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{
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short m_index;
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short m_next;
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short m_numVerts;
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short m_verts[kTmpFaceMaxVerts];
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short m_edges[kTmpFaceMaxVerts];
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Plane m_plane;
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};
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struct TmpEdge
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{
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short m_index;
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short m_next;
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short m_verts[2];
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short m_faces[2];
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};
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static short s_firstFreeTmpFace;
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static short s_firstUsedTmpFace;
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static TmpFace* s_pTmpFaces;
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static short s_firstFreeTmpEdge;
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static short s_firstUsedTmpEdge;
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static TmpEdge* s_pTmpEdges;
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static const Point3* s_pPoints;
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static short AllocTmpFace();
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static void FreeTmpFace(short face);
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static TmpFace* GetTmpFace(short index) {if (index < 0) return 0; return s_pTmpFaces + index;}
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static short AllocTmpEdge();
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static void FreeTmpEdge(short edge);
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static TmpEdge* GetTmpEdge(short index) {if (index < 0) return 0; return s_pTmpEdges + index;}
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static short MatchOrAddEdge(short vert0, short vert1, short face);
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static void UnmatchOrRemoveEdge(short edge, short face);
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static short AddTmpFace(short vert0, short vert1, short vert2);
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static short AddTmpFace(short numVerts, short* pVerts);
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static short AddTmpFace(short vert0, short numOtherVerts, short* pVerts);
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static void RemoveTmpFace(short face);
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static bool TmpFaceAddPoint(short point, short face);
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static int RemoveVisibleFaces(const Point3& point);
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static void FillHole(short newVertex);
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static Hull* MakeHullFromTemp();
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public:
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Hull();
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~Hull();
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// ObjectType GetObjectType() const {return kTypeHull;}
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short getNumVertices() const;
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short GetNumFaces() const;
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short getNumEdges() const;
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const Point3& getVertex(short index) const;
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const Face& GetFace(short index) const;
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const Edge& getEdge(short index) const;
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const Plane& getPlane(short index) const;
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short GetFaceFirstEdge(short face) const;
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short GetFaceNextEdge(short face, short prevEdge) const;
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short GetEdgeVertex0(short face, short edge) const;
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short GetEdgeVertex1(short face, short edge) const;
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short GetEdgeOtherFace(short edge, short face) const;
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Point3 GetFaceCentroid(short face) const;
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//static void ProcessHullHull(btSeparation& sep);
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static void ProcessHullHull(btSeparation& sep,const Hull& shapeA,const Hull& shapeB,const Transform& trA,const Transform& trB, HullContactCollector* collector);
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virtual void ComputeInertia(const Transform& transform, Point3& centerOfMass, Matrix33& inertia, float totalMass) const;
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virtual Bounds3 ComputeBounds(const Transform& transform) const;
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static Hull* MakeHull(int numPoints, const Point3* pPoints);
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//for contact generation
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/// Clips a face to the back of a plane
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static int ClipFace(int numVerts, Point3** ppVtxIn, Point3** ppVtxOut, const Plane& plane);
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static bool GetSeparationHullHull(btSeparation& sep, const Point3* pVertsA, const Point3* pVertsB,
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const Transform& trA, const Transform& trB,
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const Hull& hullA,
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const Hull& hullB
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);
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static int AddContactsHullHull(btSeparation& sep, const Point3* pVertsA, const Point3* pVertsB,
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const Transform& trA, const Transform& trB,const Hull& hullA,const Hull& hullB,
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HullContactCollector* hullContactCollector);
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};
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#include "hull.inl"
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#endif //SAT_HULL_H
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