#include "btInternalEdgeUtility.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"

Classes
struct	btConnectivityProcessor
struct	b3ProcessAllTrianglesHeightfield

Functions
static int	btGetHash (int partId, int triangleIndex)
static btScalar	btGetAngle (const btVector3 &edgeA, const btVector3 &normalA, const btVector3 &normalB)
void	btGenerateInternalEdgeInfo (btBvhTriangleMeshShape trimeshShape, btTriangleInfoMap triangleInfoMap)
	Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'.
void	btGenerateInternalEdgeInfo (btHeightfieldTerrainShape heightfieldShape, btTriangleInfoMap triangleInfoMap)
void	btNearestPointInLineSegment (const btVector3 &point, const btVector3 &line0, const btVector3 &line1, btVector3 &nearestPoint)
bool	btClampNormal (const btVector3 &edge, const btVector3 &tri_normal_org, const btVector3 &localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 &clampedLocalNormal)
void	btAdjustInternalEdgeContacts (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, const btCollisionObjectWrapper colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
	Changes a btManifoldPoint collision normal to the normal from the mesh.

Function Documentation

◆ btAdjustInternalEdgeContacts()

void btAdjustInternalEdgeContacts	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	trimeshColObj0Wrap,
		const btCollisionObjectWrapper *	otherColObj1Wrap,
		int	partId0,
		int	index0,
		int	normalAdjustFlags = 0 )

Changes a btManifoldPoint collision normal to the normal from the mesh.

Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo) If this info map is missing, or the triangle is not store in this map, nothing will be done

Definition at line 486 of file btInternalEdgeUtility.cpp.

References BT_LARGE_FLOAT, BT_TRIANGLE_CONCAVE_DOUBLE_SIDED, BT_TRIANGLE_CONVEX_BACKFACE_MODE, BT_TRIANGLE_CONVEX_DOUBLE_SIDED, btBvhTriangleMeshShape(), btClampNormal(), btFabs(), btGetHash(), btHeightfieldTerrainShape(), btNearestPointInLineSegment(), btScaledBvhTriangleMeshShape(), btTransform, btTriangleShape(), btVector3, btHashMap< Key, Value >::find(), btCollisionObjectWrapper::getCollisionObject(), btCollisionObjectWrapper::getCollisionShape(), btManifoldPoint::getPositionWorldOnB(), btCollisionObjectWrapper::getWorldTransform(), hash, len, length(), btTriangleInfoMap::m_convexEpsilon, btManifoldPoint::m_distance1, btTriangleInfo::m_edgeV0V1Angle, btTriangleInfo::m_edgeV1V2Angle, btTriangleInfo::m_edgeV2V0Angle, btTriangleInfo::m_flags, btManifoldPoint::m_localPointB, btTriangleInfoMap::m_maxEdgeAngleThreshold, btManifoldPoint::m_normalWorldOnB, btManifoldPoint::m_positionWorldOnA, btManifoldPoint::m_positionWorldOnB, quatRotate(), SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, TERRAIN_SHAPE_PROXYTYPE, TRI_INFO_V0V1_CONVEX, TRI_INFO_V0V1_SWAP_NORMALB, TRI_INFO_V1V2_CONVEX, TRI_INFO_V1V2_SWAP_NORMALB, TRI_INFO_V2V0_CONVEX, TRI_INFO_V2V0_SWAP_NORMALB, TRIANGLE_MESH_SHAPE_PROXYTYPE, TRIANGLE_SHAPE_PROXYTYPE, and v2.

◆ btClampNormal()

bool btClampNormal	(	const btVector3 &	edge,
		const btVector3 &	tri_normal_org,
		const btVector3 &	localContactNormalOnB,
		btScalar	correctedEdgeAngle,
		btVector3 &	clampedLocalNormal )

Definition at line 452 of file btInternalEdgeUtility.cpp.

References btGetAngle(), btMatrix3x3, and btVector3.

Referenced by btAdjustInternalEdgeContacts().

◆ btGenerateInternalEdgeInfo() [1/2]

void btGenerateInternalEdgeInfo	(	btBvhTriangleMeshShape *	trimeshShape,
		btTriangleInfoMap *	triangleInfoMap )

Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'.

Definition at line 331 of file btInternalEdgeUtility.cpp.

References BT_LARGE_FLOAT, btAssert, btBvhTriangleMeshShape(), btStridingMeshInterface, btVector3, btConnectivityProcessor::m_partIdA, btConnectivityProcessor::m_triangleIndexA, btConnectivityProcessor::m_triangleInfoMap, btConnectivityProcessor::m_triangleVerticesA, PHY_FLOAT, PHY_INTEGER, PHY_SHORT, and PHY_UCHAR.

◆ btGenerateInternalEdgeInfo() [2/2]

void btGenerateInternalEdgeInfo	(	btHeightfieldTerrainShape *	heightfieldShape,
		btTriangleInfoMap *	triangleInfoMap )

Definition at line 406 of file btInternalEdgeUtility.cpp.

References BT_LARGE_FLOAT, btHeightfieldTerrainShape(), and btVector3.

◆ btGetAngle()

btScalar btGetAngle	(	const btVector3 &	edgeA,
		const btVector3 &	normalA,
		const btVector3 &	normalB )

static

Definition at line 40 of file btInternalEdgeUtility.cpp.

References angle(), btAtan2(), and btVector3.

Referenced by btClampNormal(), and btConnectivityProcessor::processTriangle().

◆ btGetHash()

int btGetHash	(	int	partId,
		int	triangleIndex )

static

Definition at line 34 of file btInternalEdgeUtility.cpp.

References hash, and MAX_NUM_PARTS_IN_BITS.

Referenced by btAdjustInternalEdgeContacts(), and btConnectivityProcessor::processTriangle().

◆ btNearestPointInLineSegment()

void btNearestPointInLineSegment	(	const btVector3 &	point,
		const btVector3 &	line0,
		const btVector3 &	line1,
		btVector3 &	nearestPoint )

Definition at line 429 of file btInternalEdgeUtility.cpp.

References btVector3, and dot().