93 lines
3.4 KiB
C++
93 lines
3.4 KiB
C++
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#ifndef BT_INTERNAL_EDGE_UTILITY_H
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#define BT_INTERNAL_EDGE_UTILITY_H
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#include "LinearMath/btHashMap.h"
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#include "LinearMath/btVector3.h"
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///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges.
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///See also http://code.google.com/p/bullet/issues/detail?id=27
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class btBvhTriangleMeshShape;
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class btCollisionObject;
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class btManifoldPoint;
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class btIDebugDraw;
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///for btTriangleInfo m_flags
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#define TRI_INFO_V0V1_CONVEX 1
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#define TRI_INFO_V1V2_CONVEX 2
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#define TRI_INFO_V2V0_CONVEX 4
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#define TRI_INFO_V0V1_SWAP_NORMALB 8
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#define TRI_INFO_V1V2_SWAP_NORMALB 16
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#define TRI_INFO_V2V0_SWAP_NORMALB 32
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///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
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///it can be generated using
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struct btTriangleInfo
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{
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btTriangleInfo()
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{
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m_edgeV0V1Angle = SIMD_2_PI;
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m_edgeV1V2Angle = SIMD_2_PI;
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m_edgeV2V0Angle = SIMD_2_PI;
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m_flags=0;
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}
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int m_flags;
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btScalar m_edgeV0V1Angle;
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btScalar m_edgeV1V2Angle;
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btScalar m_edgeV2V0Angle;
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};
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typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
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///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
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struct btTriangleInfoMap : public btInternalTriangleInfoMap
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{
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btScalar m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product
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btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
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btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
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btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
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btTriangleInfoMap()
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{
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m_convexEpsilon = 0.00f;
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m_planarEpsilon = 0.0001f;
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m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
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m_edgeDistanceThreshold = btScalar(0.1);
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}
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};
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enum btInternalEdgeAdjustFlags
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{
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BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
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BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended
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BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
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};
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///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
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void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap);
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///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
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///If this info map is missing, or the triangle is not store in this map, nothing will be done
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void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
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///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
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///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
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//#define BT_INTERNAL_EDGE_DEBUG_DRAW
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#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
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void btSetDebugDrawer(btIDebugDraw* debugDrawer);
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#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
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#endif //BT_INTERNAL_EDGE_UTILITY_H
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