[216] | 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | // TriMesh - Plane collider by David Walters, July 2006 |
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| 24 | |
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| 25 | #include <ode/collision.h> |
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| 26 | #include <ode/matrix.h> |
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| 27 | #include <ode/rotation.h> |
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| 28 | #include <ode/odemath.h> |
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| 29 | |
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| 30 | #if dTRIMESH_ENABLED |
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| 31 | |
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| 32 | #include "collision_util.h" |
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| 33 | #include "collision_std.h" |
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| 34 | |
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| 35 | #define TRIMESH_INTERNAL |
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| 36 | #include "collision_trimesh_internal.h" |
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| 37 | |
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| 38 | #if dTRIMESH_OPCODE |
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| 39 | int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip ) |
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| 40 | { |
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| 41 | dIASSERT( skip >= (int)sizeof( dContactGeom ) ); |
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| 42 | dIASSERT( o1->type == dTriMeshClass ); |
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| 43 | dIASSERT( o2->type == dPlaneClass ); |
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| 44 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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| 45 | |
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| 46 | // Alias pointers to the plane and trimesh |
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| 47 | dxTriMesh* trimesh = (dxTriMesh*)( o1 ); |
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| 48 | dxPlane* plane = (dxPlane*)( o2 ); |
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| 49 | |
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| 50 | int contact_count = 0; |
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| 51 | |
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| 52 | // Cache the maximum contact count. |
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| 53 | const int contact_max = ( flags & NUMC_MASK ); |
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| 54 | |
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| 55 | // Cache trimesh position and rotation. |
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| 56 | const dVector3& trimesh_pos = *(const dVector3*)dGeomGetPosition( trimesh ); |
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| 57 | const dMatrix3& trimesh_R = *(const dMatrix3*)dGeomGetRotation( trimesh ); |
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| 58 | |
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| 59 | // |
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| 60 | // For all triangles. |
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| 61 | // |
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| 62 | |
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| 63 | // Cache the triangle count. |
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| 64 | const int tri_count = trimesh->Data->Mesh.GetNbTriangles(); |
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| 65 | |
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| 66 | VertexPointers VP; |
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| 67 | dReal alpha; |
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| 68 | dVector3 vertex; |
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| 69 | |
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| 70 | #if !defined(dSINGLE) || 1 |
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| 71 | dVector3 int_vertex; // Intermediate vertex for double precision mode. |
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| 72 | #endif // dSINGLE |
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| 73 | |
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| 74 | // For each triangle |
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| 75 | for ( int t = 0; t < tri_count; ++t ) |
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| 76 | { |
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| 77 | // Get triangle, which should also use callback. |
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| 78 | trimesh->Data->Mesh.GetTriangle( VP, t ); |
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| 79 | |
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| 80 | // For each vertex. |
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| 81 | for ( int v = 0; v < 3; ++v ) |
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| 82 | { |
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| 83 | // |
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| 84 | // Get Vertex |
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| 85 | // |
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| 86 | |
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| 87 | #if defined(dSINGLE) && 0 // Always assign via intermediate array as otherwise it is an incapsulation violation |
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| 88 | |
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| 89 | dMULTIPLY0_331( vertex, trimesh_R, (float*)( VP.Vertex[ v ] ) ); |
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| 90 | |
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| 91 | #else // dDOUBLE || 1 |
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| 92 | |
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| 93 | // OPCODE data is in single precision format. |
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| 94 | int_vertex[ 0 ] = VP.Vertex[ v ]->x; |
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| 95 | int_vertex[ 1 ] = VP.Vertex[ v ]->y; |
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| 96 | int_vertex[ 2 ] = VP.Vertex[ v ]->z; |
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| 97 | |
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| 98 | dMULTIPLY0_331( vertex, trimesh_R, int_vertex ); |
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| 99 | |
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| 100 | #endif // dSINGLE/dDOUBLE |
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| 101 | |
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| 102 | vertex[ 0 ] += trimesh_pos[ 0 ]; |
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| 103 | vertex[ 1 ] += trimesh_pos[ 1 ]; |
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| 104 | vertex[ 2 ] += trimesh_pos[ 2 ]; |
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| 105 | |
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| 106 | |
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| 107 | // |
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| 108 | // Collision? |
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| 109 | // |
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| 110 | |
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| 111 | // If alpha < 0 then point is if front of plane. i.e. no contact |
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| 112 | // If alpha = 0 then the point is on the plane |
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| 113 | alpha = plane->p[ 3 ] - dDOT( plane->p, vertex ); |
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| 114 | |
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| 115 | // If alpha > 0 the point is behind the plane. CONTACT! |
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| 116 | if ( alpha > 0 ) |
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| 117 | { |
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| 118 | // Alias the contact |
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| 119 | dContactGeom* contact = SAFECONTACT( flags, contacts, contact_count, skip ); |
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| 120 | |
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| 121 | contact->pos[ 0 ] = vertex[ 0 ]; |
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| 122 | contact->pos[ 1 ] = vertex[ 1 ]; |
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| 123 | contact->pos[ 2 ] = vertex[ 2 ]; |
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| 124 | |
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| 125 | contact->normal[ 0 ] = plane->p[ 0 ]; |
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| 126 | contact->normal[ 1 ] = plane->p[ 1 ]; |
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| 127 | contact->normal[ 2 ] = plane->p[ 2 ]; |
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| 128 | |
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| 129 | contact->depth = alpha; |
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| 130 | contact->g1 = plane; |
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| 131 | contact->g2 = trimesh; |
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| 132 | |
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| 133 | ++contact_count; |
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| 134 | |
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| 135 | // All contact slots are full? |
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| 136 | if ( contact_count >= contact_max ) |
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| 137 | return contact_count; // <=== STOP HERE |
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| 138 | } |
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| 139 | } |
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| 140 | } |
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| 141 | |
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| 142 | // Return contact count. |
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| 143 | return contact_count; |
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| 144 | } |
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| 145 | #endif // dTRIMESH_OPCODE |
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| 146 | |
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| 147 | #if dTRIMESH_GIMPACT |
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| 148 | int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip ) |
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| 149 | { |
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| 150 | dIASSERT( skip >= (int)sizeof( dContactGeom ) ); |
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| 151 | dIASSERT( o1->type == dTriMeshClass ); |
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| 152 | dIASSERT( o2->type == dPlaneClass ); |
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| 153 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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| 154 | |
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| 155 | // Alias pointers to the plane and trimesh |
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| 156 | dxTriMesh* trimesh = (dxTriMesh*)( o1 ); |
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| 157 | vec4f plane; |
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| 158 | dGeomPlaneGetParams(o2, plane); |
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| 159 | |
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| 160 | //Find collision |
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| 161 | |
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| 162 | GDYNAMIC_ARRAY collision_result; |
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| 163 | GIM_CREATE_TRIMESHPLANE_CONTACTS(collision_result); |
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| 164 | |
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| 165 | gim_trimesh_plane_collision(&trimesh->m_collision_trimesh,plane,&collision_result); |
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| 166 | |
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| 167 | if(collision_result.m_size == 0 ) |
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| 168 | { |
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| 169 | GIM_DYNARRAY_DESTROY(collision_result); |
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| 170 | return 0; |
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| 171 | } |
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| 172 | |
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| 173 | |
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| 174 | unsigned int contactcount = collision_result.m_size; |
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| 175 | unsigned int contactmax = (unsigned int)(flags & NUMC_MASK); |
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| 176 | if (contactcount > contactmax) |
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| 177 | { |
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| 178 | contactcount = contactmax; |
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| 179 | } |
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| 180 | |
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| 181 | dContactGeom* pcontact; |
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| 182 | vec4f * planecontact_results = GIM_DYNARRAY_POINTER(vec4f,collision_result); |
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| 183 | |
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| 184 | for(unsigned int i = 0; i < contactcount; i++ ) |
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| 185 | { |
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| 186 | pcontact = SAFECONTACT(flags, contacts, i, skip); |
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| 187 | |
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| 188 | pcontact->pos[0] = (*planecontact_results)[0]; |
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| 189 | pcontact->pos[1] = (*planecontact_results)[1]; |
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| 190 | pcontact->pos[2] = (*planecontact_results)[2]; |
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| 191 | pcontact->pos[3] = REAL(1.0); |
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| 192 | |
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| 193 | pcontact->normal[0] = plane[0]; |
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| 194 | pcontact->normal[1] = plane[1]; |
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| 195 | pcontact->normal[2] = plane[2]; |
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| 196 | pcontact->normal[3] = 0; |
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| 197 | |
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| 198 | pcontact->depth = (*planecontact_results)[3]; |
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| 199 | pcontact->g1 = o1; |
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| 200 | pcontact->g2 = o2; |
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| 201 | |
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| 202 | planecontact_results++; |
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| 203 | } |
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| 204 | |
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| 205 | GIM_DYNARRAY_DESTROY(collision_result); |
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| 206 | |
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| 207 | return (int)contactcount; |
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| 208 | } |
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| 209 | #endif // dTRIMESH_GIMPACT |
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| 210 | |
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| 211 | |
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| 212 | #endif // dTRIMESH_ENABLED |
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| 213 | |
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