///combined discrete/continuous sphere-triangle
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
{
const btVector3* vertices = &m_triangle->getVertexPtr(0);
const btVector3& c = sphereCenter;
btScalar r = m_sphere->getRadius();
btVector3 delta (0,0,0);
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize();
btVector3 p1ToCentre = c - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal);
if (distanceFromPlane < btScalar(0.))
{
//triangle facing the other way
distanceFromPlane *= btScalar(-1.);
normal *= btScalar(-1.);
}
btScalar contactMargin = contactBreakingThreshold;
bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
bool isInsideShellPlane = distanceFromPlane < r;
btScalar deltaDotNormal = delta.dot(normal);
if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
return false;
// Check for contact / intersection
bool hasContact = false;
btVector3 contactPoint;
if (isInsideContactPlane) {
if (facecontains(c,vertices,normal)) {
// Inside the contact wedge - touches a point on the shell plane
hasContact = true;
contactPoint = c - normal*distanceFromPlane;
} else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
btVector3 pa;
btVector3 pb;
m_triangle->getEdge(i,pa,pb);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) {
// Yep, we're inside a capsule
hasContact = true;
contactPoint = nearestOnEdge;
}
}
}
}
if (hasContact) {
btVector3 contactToCentre = c - contactPoint;
btScalar distanceSqr = contactToCentre.length2();
if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(r-distance);
return true;
}
if (delta.dot(contactToCentre) >= btScalar(0.0))
return false;
// Moving towards the contact point -> collision
point = contactPoint;
timeOfImpact = btScalar(0.0);
return true;
}
return false;
}
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
{
const btVector3* vertices = &m_triangle->getVertexPtr(0);
btScalar radius = m_sphere->getRadius();
btScalar radiusWithThreshold = radius + contactBreakingThreshold;
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize();
btVector3 p1ToCentre = sphereCenter - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal);
if (distanceFromPlane < btScalar(0.))
{
//triangle facing the other way
distanceFromPlane *= btScalar(-1.);
normal *= btScalar(-1.);
}
bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
// Check for contact / intersection
bool hasContact = false;
btVector3 contactPoint;
if (isInsideContactPlane) {
if (facecontains(sphereCenter,vertices,normal)) {
// Inside the contact wedge - touches a point on the shell plane
hasContact = true;
contactPoint = sphereCenter - normal*distanceFromPlane;
} else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
btVector3 pa;
btVector3 pb;
m_triangle->getEdge(i,pa,pb);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) {
// Yep, we're inside a capsule
hasContact = true;
contactPoint = nearestOnEdge;
}
}
}
}
if (hasContact) {
btVector3 contactToCentre = sphereCenter - contactPoint;
btScalar distanceSqr = contactToCentre.length2();
if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
{
if (distanceSqr>SIMD_EPSILON)
{
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(radius-distance);
} else
{
btScalar distance = 0.f;
resultNormal = normal;
point = contactPoint;
depth = -radius;
}
return true;
}
}
return false;
}
