GIM_TRIANGLE Class Reference
[GEOMETRIC_OPERATIONS]

Class for colliding triangles. More...

#include <gim_tri_collision.h>

List of all members.

Public Member Functions
	GIM_TRIANGLE ()
SIMD_FORCE_INLINE GIM_AABB	get_box () const
SIMD_FORCE_INLINE void	get_normal (btVector3 &normal) const
SIMD_FORCE_INLINE void	get_plane (btVector4 &plane) const
SIMD_FORCE_INLINE void	apply_transform (const btTransform &trans)
SIMD_FORCE_INLINE void	get_edge_plane (GUINT edge_index, const btVector3 &triangle_normal, btVector4 &plane) const
SIMD_FORCE_INLINE void	get_triangle_transform (btTransform &triangle_transform) const
	Gets the relative transformation of this triangle.
bool	collide_triangle_hard_test (const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
	Test triangles by finding separating axis.
SIMD_FORCE_INLINE bool	collide_triangle (const GIM_TRIANGLE &other, GIM_TRIANGLE_CONTACT_DATA &contact_data) const
	Test boxes before doing hard test.
SIMD_FORCE_INLINE bool	get_uv_parameters (const btVector3 &point, const btVector3 &tri_plane, GREAL &u, GREAL &v) const
SIMD_FORCE_INLINE bool	is_point_inside (const btVector3 &point, const btVector3 &tri_normal) const
	is point in triangle beam?
SIMD_FORCE_INLINE bool	ray_collision (const btVector3 &vPoint, const btVector3 &vDir, btVector3 &pout, btVector3 &triangle_normal, GREAL &tparam, GREAL tmax=G_REAL_INFINITY)
	Bidireccional ray collision.
SIMD_FORCE_INLINE 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
Public Attributes
btScalar	m_margin
btVector3	m_vertices [3]

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Detailed Description

Class for colliding triangles.

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Constructor & Destructor Documentation

GIM_TRIANGLE::GIM_TRIANGLE

(

)

[inline]

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Member Function Documentation

SIMD_FORCE_INLINE GIM_AABB GIM_TRIANGLE::get_box

(

)

const [inline]

SIMD_FORCE_INLINE void GIM_TRIANGLE::get_normal

(

btVector3 &

normal

)

const [inline]

SIMD_FORCE_INLINE void GIM_TRIANGLE::get_plane

(

btVector4 &

plane

)

const [inline]

SIMD_FORCE_INLINE void GIM_TRIANGLE::apply_transform

(

const btTransform &

trans

)

[inline]

SIMD_FORCE_INLINE void GIM_TRIANGLE::get_edge_plane	(	GUINT	edge_index,
		const btVector3 &	triangle_normal,
		btVector4 &	plane
	)			const [inline]

SIMD_FORCE_INLINE 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,

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

SIMD_FORCE_INLINE 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 \

SIMD_FORCE_INLINE 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

SIMD_FORCE_INLINE 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

SIMD_FORCE_INLINE 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.

SIMD_FORCE_INLINE 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

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Member Data Documentation

btScalar GIM_TRIANGLE::m_margin

btVector3 GIM_TRIANGLE::m_vertices[3]

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

• C:/desarrollo/GIMPACT/GIMPACT/include/GIMPACT/core/gim_tri_collision.h

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