/usr/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h is in libbullet-dev 2.83.6+dfsg-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 | #ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
/*! \file btGeometryOperations.h
*\author Francisco Leon Najera
*/
/*
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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.
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:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBoxCollision.h"
#define PLANEDIREPSILON 0.0000001f
#define PARALELENORMALS 0.000001f
#define BT_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
/// Calc a plane from a triangle edge an a normal. plane is a vec4f
SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 & e1,const btVector3 & e2, const btVector3 & normal,btVector4 & plane)
{
btVector3 planenormal = (e2-e1).cross(normal);
planenormal.normalize();
plane.setValue(planenormal[0],planenormal[1],planenormal[2],e2.dot(planenormal));
}
//***************** SEGMENT and LINE FUNCTIONS **********************************///
/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
*/
SIMD_FORCE_INLINE void bt_closest_point_on_segment(
btVector3 & cp, const btVector3 & v,
const btVector3 &e1,const btVector3 &e2)
{
btVector3 n = e2-e1;
cp = v - e1;
btScalar _scalar = cp.dot(n)/n.dot(n);
if(_scalar <0.0f)
{
cp = e1;
}
else if(_scalar >1.0f)
{
cp = e2;
}
else
{
cp = _scalar*n + e1;
}
}
//! line plane collision
/*!
*\return
-0 if the ray never intersects
-1 if the ray collides in front
-2 if the ray collides in back
*/
SIMD_FORCE_INLINE int bt_line_plane_collision(
const btVector4 & plane,
const btVector3 & vDir,
const btVector3 & vPoint,
btVector3 & pout,
btScalar &tparam,
btScalar tmin, btScalar tmax)
{
btScalar _dotdir = vDir.dot(plane);
if(btFabs(_dotdir)<PLANEDIREPSILON)
{
tparam = tmax;
return 0;
}
btScalar _dis = bt_distance_point_plane(plane,vPoint);
char returnvalue = _dis<0.0f? 2:1;
tparam = -_dis/_dotdir;
if(tparam<tmin)
{
returnvalue = 0;
tparam = tmin;
}
else if(tparam>tmax)
{
returnvalue = 0;
tparam = tmax;
}
pout = tparam*vDir + vPoint;
return returnvalue;
}
//! Find closest points on segments
SIMD_FORCE_INLINE void bt_segment_collision(
const btVector3 & vA1,
const btVector3 & vA2,
const btVector3 & vB1,
const btVector3 & vB2,
btVector3 & vPointA,
btVector3 & vPointB)
{
btVector3 AD = vA2 - vA1;
btVector3 BD = vB2 - vB1;
btVector3 N = AD.cross(BD);
btScalar tp = N.length2();
btVector4 _M;//plane
if(tp<SIMD_EPSILON)//ARE PARALELE
{
//project B over A
bool invert_b_order = false;
_M[0] = vB1.dot(AD);
_M[1] = vB2.dot(AD);
if(_M[0]>_M[1])
{
invert_b_order = true;
BT_SWAP_NUMBERS(_M[0],_M[1]);
}
_M[2] = vA1.dot(AD);
_M[3] = vA2.dot(AD);
//mid points
N[0] = (_M[0]+_M[1])*0.5f;
N[1] = (_M[2]+_M[3])*0.5f;
if(N[0]<N[1])
{
if(_M[1]<_M[2])
{
vPointB = invert_b_order?vB1:vB2;
vPointA = vA1;
}
else if(_M[1]<_M[3])
{
vPointB = invert_b_order?vB1:vB2;
bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
}
else
{
vPointA = vA2;
bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
}
}
else
{
if(_M[3]<_M[0])
{
vPointB = invert_b_order?vB2:vB1;
vPointA = vA2;
}
else if(_M[3]<_M[1])
{
vPointA = vA2;
bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
}
else
{
vPointB = invert_b_order?vB1:vB2;
bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
}
}
return;
}
N = N.cross(BD);
_M.setValue(N[0],N[1],N[2],vB1.dot(N));
// get point A as the plane collision point
bt_line_plane_collision(_M,AD,vA1,vPointA,tp,btScalar(0), btScalar(1));
/*Closest point on segment*/
vPointB = vPointA - vB1;
tp = vPointB.dot(BD);
tp/= BD.dot(BD);
tp = BT_CLAMP(tp,0.0f,1.0f);
vPointB = tp*BD + vB1;
}
#endif // GIM_VECTOR_H_INCLUDED
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