#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, btAdjustInternalEdgeContacts(), 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.

Referenced by btAdjustInternalEdgeContacts().

◆ btClampNormal()

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