Esempi in C++ (Cpp) per PfxShape::getConvexMesh

Esempio n. 1

File: pfx_shape.cpp Progetto: Lunavast/bullet-physics

void pfxGetShapeAabbConvexMesh(const PfxShape &shape,PfxVector3 &aabbMin,PfxVector3 &aabbMax)
{
	const PfxConvexMesh *convex = shape.getConvexMesh();
	PfxVector3 half = absPerElem(PfxMatrix3(shape.getOffsetOrientation())) * convex->m_half;
	aabbMin = shape.getOffsetPosition() - half;
	aabbMax = shape.getOffsetPosition() + half;
}

Esempio n. 2

File: pfx_intersect_ray_func.cpp Progetto: Kelloggs/experiments

PfxBool intersectRayFuncConvex(
				const PfxRayInput &ray,PfxRayOutput &out,
				const PfxShape &shape,const PfxTransform3 &transform)
{
const PfxConvexMesh *convex = shape.getConvexMesh();
	
	PfxBool ret = pfxIntersectRayConvex(ray,out,(const void*)convex,transform);
	
	
	return ret;
}

Esempio n. 3

File: pfx_contact_large_tri_mesh.cpp Progetto: Kelloggs/experiments

PfxInt32 pfxContactLargeTriMesh(
				PfxContactCache &contacts,
				const PfxLargeTriMesh *lmeshA,
				const PfxTransform3 &transformA,
				const PfxShape &shapeB,
				const PfxTransform3 &transformB,
				PfxFloat distanceThreshold)
{
	PfxTransform3 transformAB;
	PfxMatrix3 matrixAB;
	PfxVector3 offsetAB;
	
	// Bローカル→Aローカルへの変換
	transformAB = orthoInverse(transformA) * transformB;
	matrixAB = transformAB.getUpper3x3();
	offsetAB = transformAB.getTranslation();
	
	// -----------------------------------------------------
	// LargeTriMeshに含まれるTriMeshのAABBと凸体のAABBを判定し、
	// 交差するものを個別に衝突判定する。※LargeMesh座標系
	
	PfxVector3 shapeHalf(0.0f);
	PfxVector3 shapeCenter = offsetAB;
	

	switch(shapeB.getType()) {
		case kPfxShapeSphere:
		shapeHalf = PfxVector3(shapeB.getSphere().m_radius);
		break;
		
		case kPfxShapeCapsule:
		{
			PfxCapsule capsule = shapeB.getCapsule();
			shapeHalf = absPerElem(matrixAB) * PfxVector3(capsule.m_halfLen+capsule.m_radius,capsule.m_radius,capsule.m_radius);
		}
		break;
		
		case kPfxShapeCylinder:
		{
			PfxCylinder cylinder = shapeB.getCylinder();
			shapeHalf = absPerElem(matrixAB) * PfxVector3(cylinder.m_halfLen,cylinder.m_radius,cylinder.m_radius);
		}
		break;
		
		case kPfxShapeBox:
		shapeHalf = absPerElem(matrixAB) * shapeB.getBox().m_half;
		break;
		
		case kPfxShapeConvexMesh:
	shapeHalf = absPerElem(matrixAB) * shapeB.getConvexMesh()->m_half;
		break;
		
		default:
		break;
	}

	// -----------------------------------------------------
	// アイランドとの衝突判定

	PfxVecInt3 aabbMinL,aabbMaxL;
	lmeshA->getLocalPosition((shapeCenter-shapeHalf),(shapeCenter+shapeHalf),aabbMinL,aabbMaxL);
	
	PfxUInt32 numIslands = lmeshA->m_numIslands;

	{
	for(PfxUInt32 i=0;i<numIslands;i++) {
		// AABBチェック
		PfxAabb16 aabbB = lmeshA->m_aabbList[i];
		if(aabbMaxL.getX() < pfxGetXMin(aabbB) || aabbMinL.getX() > pfxGetXMax(aabbB)) continue;
		if(aabbMaxL.getY() < pfxGetYMin(aabbB) || aabbMinL.getY() > pfxGetYMax(aabbB)) continue;
		if(aabbMaxL.getZ() < pfxGetZMin(aabbB) || aabbMinL.getZ() > pfxGetZMax(aabbB)) continue;
		
		PfxTriMesh *island = &lmeshA->m_islands[i];

			// 衝突判定
			PfxContactCache localContacts;
			switch(shapeB.getType()) {
				case kPfxShapeSphere:
				pfxContactTriMeshSphere(localContacts,island,transformA,shapeB.getSphere(),transformB,distanceThreshold);
				break;
				
				case kPfxShapeCapsule:
				pfxContactTriMeshCapsule(localContacts,island,transformA,shapeB.getCapsule(),transformB,distanceThreshold);
				break;
				
				case kPfxShapeBox:
				pfxContactTriMeshBox(localContacts,island,transformA,shapeB.getBox(),transformB,distanceThreshold);
				break;
				
				case kPfxShapeCylinder:
				pfxContactTriMeshCylinder(localContacts,island,transformA,shapeB.getCylinder(),transformB,distanceThreshold);
				break;
				
				case kPfxShapeConvexMesh:
			pfxContactTriMeshConvex(localContacts,island,transformA,*shapeB.getConvexMesh(),transformB,distanceThreshold);
				break;
				
				default:
				break;
			}

			
			// 衝突点を追加
			for(int j=0;j<localContacts.getNumContacts();j++) {
				PfxSubData subData = localContacts.getSubData(j);
				subData.setIslandId(i);
				contacts.addContactPoint(
					localContacts.getDistance(j),
					localContacts.getNormal(j),
					localContacts.getLocalPointA(j),
					localContacts.getLocalPointB(j),
					subData);
			}
		}
	}


	return contacts.getNumContacts();
}