[216] | 1 | |
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| 2 | /* |
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| 3 | ----------------------------------------------------------------------------- |
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| 4 | This source file is part of GIMPACT Library. |
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| 5 | |
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| 6 | For the latest info, see http://gimpact.sourceforge.net/ |
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| 7 | |
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| 8 | Copyright (c) 2006 Francisco Leon. C.C. 80087371. |
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| 9 | email: projectileman@yahoo.com |
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| 10 | |
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| 11 | This library is free software; you can redistribute it and/or |
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| 12 | modify it under the terms of EITHER: |
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| 13 | (1) The GNU Lesser General Public License as published by the Free |
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| 14 | Software Foundation; either version 2.1 of the License, or (at |
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| 15 | your option) any later version. The text of the GNU Lesser |
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| 16 | General Public License is included with this library in the |
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| 17 | file GIMPACT-LICENSE-LGPL.TXT. |
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| 18 | (2) The BSD-style license that is included with this library in |
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| 19 | the file GIMPACT-LICENSE-BSD.TXT. |
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| 20 | |
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| 21 | This library is distributed in the hope that it will be useful, |
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| 22 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 23 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files |
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| 24 | GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. |
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| 25 | |
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| 26 | ----------------------------------------------------------------------------- |
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| 27 | */ |
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| 28 | |
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| 29 | #include "GIMPACT/gim_trimesh.h" |
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| 30 | |
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| 31 | //! Utility function for find the closest point between a segment and a triangle |
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| 32 | /*! |
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| 33 | |
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| 34 | \param triangle |
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| 35 | \param s1 |
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| 36 | \param s2 |
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| 37 | \param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance |
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| 38 | |
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| 39 | \post The contacts array is not set to 0. It adds aditional contacts |
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| 40 | */ |
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| 41 | void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts) |
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| 42 | { |
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| 43 | vec3f segment_points[4]; |
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| 44 | vec3f closest_points[2]; |
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| 45 | GUINT intersection_type, out_edge= 10; |
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| 46 | GREAL dis, dis_temp,perpend; |
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| 47 | vec4f sdiff; |
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| 48 | |
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| 49 | dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1); |
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| 50 | dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2); |
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| 51 | |
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| 52 | if(dis<=0.0f && dis_temp<=0.0f) return; |
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| 53 | |
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| 54 | VEC_DIFF(sdiff,s2,s1); |
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| 55 | perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]); |
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| 56 | |
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| 57 | if(!IS_ZERO(perpend)) // Not perpendicular |
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| 58 | { |
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| 59 | if(dis<dis_temp) |
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| 60 | { |
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| 61 | VEC_COPY(closest_points[0],s1); |
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| 62 | } |
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| 63 | else |
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| 64 | { |
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| 65 | dis = dis_temp; |
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| 66 | VEC_COPY(closest_points[0],s2); |
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| 67 | } |
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| 68 | |
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| 69 | //Testing segment vertices over triangle |
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| 70 | if(dis>=0.0f && dis_temp>=0.0f) |
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| 71 | { |
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| 72 | POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge); |
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| 73 | |
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| 74 | if(out_edge==0)//Point over face |
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| 75 | { |
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| 76 | GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); |
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| 77 | return; |
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| 78 | } |
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| 79 | } |
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| 80 | else |
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| 81 | { |
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| 82 | |
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| 83 | PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]); |
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| 84 | |
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| 85 | POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge); |
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| 86 | |
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| 87 | if(out_edge==0)//Point over face |
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| 88 | { |
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| 89 | GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); |
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| 90 | return; |
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| 91 | } |
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| 92 | } |
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| 93 | |
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| 94 | } |
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| 95 | else // Perpendicular Face |
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| 96 | { |
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| 97 | //out_edge=10 |
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| 98 | //Clip segment by triangle |
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| 99 | // Edge1 |
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| 100 | PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type); |
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| 101 | if(intersection_type==0||intersection_type==1) |
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| 102 | { |
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| 103 | out_edge = 0; |
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| 104 | VEC_COPY(closest_points[0],segment_points[0]); |
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| 105 | } |
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| 106 | else |
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| 107 | { |
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| 108 | //Edge2 |
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| 109 | PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type); |
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| 110 | if(intersection_type==0||intersection_type==1) |
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| 111 | { |
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| 112 | out_edge = 1; |
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| 113 | VEC_COPY(closest_points[0],segment_points[3]); |
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| 114 | } |
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| 115 | else |
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| 116 | { |
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| 117 | //Edge3 |
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| 118 | PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type); |
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| 119 | if(intersection_type==0||intersection_type==1) |
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| 120 | { |
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| 121 | out_edge = 2; |
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| 122 | } |
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| 123 | } |
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| 124 | } |
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| 125 | //POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2 |
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| 126 | if(out_edge>2) // Over triangle |
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| 127 | { |
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| 128 | dis = VEC_DOT(closest_points[0],triangle->m_planes.m_planes[0]); |
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| 129 | GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); |
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| 130 | GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); |
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| 131 | return; |
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| 132 | } |
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| 133 | } |
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| 134 | |
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| 135 | //Find closest edges |
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| 136 | out_edge = 10; |
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| 137 | dis = G_REAL_INFINITY; |
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| 138 | GUINT i; |
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| 139 | for(i=0;i<3;i++) |
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| 140 | { |
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| 141 | SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]); |
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| 142 | VEC_DIFF(sdiff,segment_points[0],segment_points[1]); |
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| 143 | dis_temp = VEC_DOT(sdiff,sdiff); |
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| 144 | if(dis_temp< dis) |
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| 145 | { |
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| 146 | dis = dis_temp; |
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| 147 | out_edge = i; |
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| 148 | VEC_COPY(closest_points[0],segment_points[0]); |
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| 149 | VEC_COPY(closest_points[1],sdiff);//normal |
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| 150 | } |
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| 151 | } |
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| 152 | if(out_edge>2) return ;// ???? ASSERT this please |
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| 153 | |
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| 154 | if(IS_ZERO(dis)) |
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| 155 | { |
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| 156 | //Set face plane |
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| 157 | GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0); |
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| 158 | |
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| 159 | } |
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| 160 | else |
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| 161 | { |
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| 162 | GIM_SQRT(dis,dis); |
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| 163 | VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal |
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| 164 | GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0); |
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| 165 | } |
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| 166 | } |
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| 167 | |
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| 168 | |
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| 169 | //! Utility function for find the closest point between a capsule and a triangle |
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| 170 | /*! |
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| 171 | |
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| 172 | \param triangle |
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| 173 | \param capsule |
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| 174 | \param contacts Contains the closest points on the capsule, and the normal points to triangle |
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| 175 | |
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| 176 | \post The contacts array is not set to 0. It adds aditional contacts |
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| 177 | */ |
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| 178 | int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) |
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| 179 | { |
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| 180 | GUINT old_contact_size = contacts->m_size; |
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| 181 | gim_closest_point_triangle_segment(triangle,capsule->m_point1,capsule->m_point2,contacts); |
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| 182 | GIM_CONTACT * pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,(*contacts)); |
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| 183 | pcontact+= old_contact_size; |
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| 184 | |
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| 185 | if(pcontact->m_depth > capsule->m_radius) |
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| 186 | { |
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| 187 | contacts->m_size = old_contact_size; |
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| 188 | return 0; |
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| 189 | } |
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| 190 | |
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| 191 | vec3f vec; |
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| 192 | while(old_contact_size<contacts->m_size) |
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| 193 | { |
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| 194 | //Scale the normal for pointing to triangle |
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| 195 | VEC_SCALE(pcontact->m_normal,-1.0f,pcontact->m_normal); |
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| 196 | //Fix the contact point |
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| 197 | VEC_SCALE(vec,capsule->m_radius,pcontact->m_normal); |
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| 198 | VEC_SUM(pcontact->m_point,vec,pcontact->m_point); |
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| 199 | //Fix the depth |
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| 200 | pcontact->m_depth = capsule->m_radius - pcontact->m_depth; |
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| 201 | |
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| 202 | pcontact++; |
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| 203 | old_contact_size++; |
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| 204 | } |
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| 205 | |
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| 206 | return 1; |
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| 207 | } |
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| 208 | |
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| 209 | |
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| 210 | //! Trimesh Capsule collision |
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| 211 | /*! |
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| 212 | Find the closest primitive collided by the ray |
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| 213 | \param trimesh |
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| 214 | \param capsule |
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| 215 | \param contact |
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| 216 | \param contacts A GIM_CONTACT array. Must be initialized |
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| 217 | */ |
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| 218 | void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) |
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| 219 | { |
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| 220 | contacts->m_size = 0; |
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| 221 | |
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| 222 | aabb3f test_aabb; |
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| 223 | CALC_CAPSULE_AABB((*capsule),test_aabb); |
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| 224 | |
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| 225 | GDYNAMIC_ARRAY collision_result; |
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| 226 | GIM_CREATE_BOXQUERY_LIST(collision_result); |
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| 227 | |
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| 228 | gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result); |
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| 229 | |
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| 230 | if(collision_result.m_size==0) |
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| 231 | { |
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| 232 | GIM_DYNARRAY_DESTROY(collision_result); |
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| 233 | } |
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| 234 | |
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| 235 | //collide triangles |
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| 236 | //Locks trimesh |
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| 237 | gim_trimesh_locks_work_data(trimesh); |
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| 238 | //dummy contacts |
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| 239 | GDYNAMIC_ARRAY dummycontacts; |
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| 240 | GIM_CREATE_CONTACT_LIST(dummycontacts); |
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| 241 | |
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| 242 | int cresult; |
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| 243 | unsigned int i; |
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| 244 | GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result); |
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| 245 | GIM_TRIANGLE_DATA tri_data; |
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| 246 | GUINT old_contact_size; |
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| 247 | GIM_CONTACT * pcontact; |
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| 248 | |
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| 249 | for(i=0;i<collision_result.m_size;i++) |
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| 250 | { |
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| 251 | old_contact_size = dummycontacts.m_size; |
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| 252 | gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data); |
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| 253 | cresult = gim_triangle_capsule_collision(&tri_data, capsule, &dummycontacts); |
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| 254 | if(cresult!=0) |
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| 255 | { |
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| 256 | pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,dummycontacts); |
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| 257 | pcontact+= old_contact_size; |
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| 258 | while(old_contact_size<dummycontacts.m_size) |
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| 259 | { |
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| 260 | pcontact->m_handle1 = trimesh; |
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| 261 | pcontact->m_handle2 = capsule; |
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| 262 | pcontact->m_feature1 = boxesresult[i]; |
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| 263 | pcontact->m_feature2 = 0; |
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| 264 | pcontact++; |
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| 265 | old_contact_size++; |
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| 266 | } |
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| 267 | } |
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| 268 | } |
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| 269 | ///unlocks |
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| 270 | gim_trimesh_unlocks_work_data(trimesh); |
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| 271 | ///Destroy box result |
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| 272 | GIM_DYNARRAY_DESTROY(collision_result); |
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| 273 | |
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| 274 | //merge contacts |
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| 275 | gim_merge_contacts(&dummycontacts,contacts); |
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| 276 | |
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| 277 | //Destroy dummy |
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| 278 | GIM_DYNARRAY_DESTROY(dummycontacts); |
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| 279 | } |
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