/** Classify points that are closer. */
public void merge_points(
Vector4f plane, float margin, ObjectArrayList<Vector3f> points, int point_count) {
this.point_count = 0;
penetration_depth = -1000.0f;
int[] point_indices = intArrays.getFixed(MAX_TRI_CLIPPING);
for (int _k = 0; _k < point_count; _k++) {
float _dist = -ClipPolygon.distance_point_plane(plane, points.getQuick(_k)) + margin;
if (_dist >= 0.0f) {
if (_dist > penetration_depth) {
penetration_depth = _dist;
point_indices[0] = _k;
this.point_count = 1;
} else if ((_dist + BulletGlobals.SIMD_EPSILON) >= penetration_depth) {
point_indices[this.point_count] = _k;
this.point_count++;
}
}
}
for (int _k = 0; _k < this.point_count; _k++) {
this.points[_k].set(points.getQuick(point_indices[_k]));
}
intArrays.release(point_indices);
}
public boolean overlap_test_conservative(TriangleShapeEx other) {
float total_margin = getMargin() + other.getMargin();
Vector4f plane0 = new Vector4f();
buildTriPlane(plane0);
Vector4f plane1 = new Vector4f();
other.buildTriPlane(plane1);
// classify points on other triangle
float dis0 = ClipPolygon.distance_point_plane(plane0, other.vertices1[0]) - total_margin;
float dis1 = ClipPolygon.distance_point_plane(plane0, other.vertices1[1]) - total_margin;
float dis2 = ClipPolygon.distance_point_plane(plane0, other.vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) {
return false; // classify points on this triangle
}
dis0 = ClipPolygon.distance_point_plane(plane1, vertices1[0]) - total_margin;
dis1 = ClipPolygon.distance_point_plane(plane1, vertices1[1]) - total_margin;
dis2 = ClipPolygon.distance_point_plane(plane1, vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f) {
return false;
}
return true;
}