[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 code by Erwin de Vries. |
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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 | #include "collision_util.h" |
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| 30 | |
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| 31 | #if dTRIMESH_ENABLED |
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| 32 | |
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| 33 | #define TRIMESH_INTERNAL |
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| 34 | #include "collision_trimesh_internal.h" |
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| 35 | |
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| 36 | #if dTRIMESH_OPCODE |
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| 37 | #define MERGECONTACTS |
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| 38 | |
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| 39 | // Ripped from Opcode 1.1. |
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| 40 | static bool GetContactData(const dVector3& Center, dReal Radius, const dVector3 Origin, const dVector3 Edge0, const dVector3 Edge1, dReal& Dist, dReal& u, dReal& v){ |
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| 41 | |
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| 42 | // now onto the bulk of the collision... |
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| 43 | |
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| 44 | dVector3 Diff; |
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| 45 | Diff[0] = Origin[0] - Center[0]; |
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| 46 | Diff[1] = Origin[1] - Center[1]; |
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| 47 | Diff[2] = Origin[2] - Center[2]; |
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| 48 | Diff[3] = Origin[3] - Center[3]; |
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| 49 | |
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| 50 | dReal A00 = dDOT(Edge0, Edge0); |
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| 51 | dReal A01 = dDOT(Edge0, Edge1); |
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| 52 | dReal A11 = dDOT(Edge1, Edge1); |
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| 53 | |
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| 54 | dReal B0 = dDOT(Diff, Edge0); |
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| 55 | dReal B1 = dDOT(Diff, Edge1); |
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| 56 | |
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| 57 | dReal C = dDOT(Diff, Diff); |
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| 58 | |
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| 59 | dReal Det = dFabs(A00 * A11 - A01 * A01); |
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| 60 | u = A01 * B1 - A11 * B0; |
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| 61 | v = A01 * B0 - A00 * B1; |
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| 62 | |
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| 63 | dReal DistSq; |
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| 64 | |
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| 65 | if (u + v <= Det){ |
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| 66 | if(u < REAL(0.0)){ |
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| 67 | if(v < REAL(0.0)){ // region 4 |
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| 68 | if(B0 < REAL(0.0)){ |
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| 69 | v = REAL(0.0); |
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| 70 | if (-B0 >= A00){ |
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| 71 | u = REAL(1.0); |
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| 72 | DistSq = A00 + REAL(2.0) * B0 + C; |
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| 73 | } |
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| 74 | else{ |
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| 75 | u = -B0 / A00; |
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| 76 | DistSq = B0 * u + C; |
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| 77 | } |
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| 78 | } |
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| 79 | else{ |
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| 80 | u = REAL(0.0); |
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| 81 | if(B1 >= REAL(0.0)){ |
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| 82 | v = REAL(0.0); |
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| 83 | DistSq = C; |
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| 84 | } |
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| 85 | else if(-B1 >= A11){ |
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| 86 | v = REAL(1.0); |
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| 87 | DistSq = A11 + REAL(2.0) * B1 + C; |
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| 88 | } |
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| 89 | else{ |
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| 90 | v = -B1 / A11; |
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| 91 | DistSq = B1 * v + C; |
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| 92 | } |
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| 93 | } |
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| 94 | } |
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| 95 | else{ // region 3 |
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| 96 | u = REAL(0.0); |
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| 97 | if(B1 >= REAL(0.0)){ |
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| 98 | v = REAL(0.0); |
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| 99 | DistSq = C; |
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| 100 | } |
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| 101 | else if(-B1 >= A11){ |
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| 102 | v = REAL(1.0); |
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| 103 | DistSq = A11 + REAL(2.0) * B1 + C; |
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| 104 | } |
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| 105 | else{ |
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| 106 | v = -B1 / A11; |
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| 107 | DistSq = B1 * v + C; |
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| 108 | } |
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| 109 | } |
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| 110 | } |
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| 111 | else if(v < REAL(0.0)){ // region 5 |
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| 112 | v = REAL(0.0); |
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| 113 | if (B0 >= REAL(0.0)){ |
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| 114 | u = REAL(0.0); |
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| 115 | DistSq = C; |
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| 116 | } |
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| 117 | else if (-B0 >= A00){ |
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| 118 | u = REAL(1.0); |
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| 119 | DistSq = A00 + REAL(2.0) * B0 + C; |
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| 120 | } |
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| 121 | else{ |
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| 122 | u = -B0 / A00; |
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| 123 | DistSq = B0 * u + C; |
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| 124 | } |
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| 125 | } |
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| 126 | else{ // region 0 |
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| 127 | // minimum at interior point |
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| 128 | if (Det == REAL(0.0)){ |
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| 129 | u = REAL(0.0); |
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| 130 | v = REAL(0.0); |
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| 131 | DistSq = FLT_MAX; |
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| 132 | } |
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| 133 | else{ |
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| 134 | dReal InvDet = REAL(1.0) / Det; |
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| 135 | u *= InvDet; |
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| 136 | v *= InvDet; |
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| 137 | DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C; |
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| 138 | } |
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| 139 | } |
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| 140 | } |
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| 141 | else{ |
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| 142 | dReal Tmp0, Tmp1, Numer, Denom; |
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| 143 | |
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| 144 | if(u < REAL(0.0)){ // region 2 |
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| 145 | Tmp0 = A01 + B0; |
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| 146 | Tmp1 = A11 + B1; |
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| 147 | if (Tmp1 > Tmp0){ |
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| 148 | Numer = Tmp1 - Tmp0; |
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| 149 | Denom = A00 - REAL(2.0) * A01 + A11; |
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| 150 | if (Numer >= Denom){ |
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| 151 | u = REAL(1.0); |
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| 152 | v = REAL(0.0); |
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| 153 | DistSq = A00 + REAL(2.0) * B0 + C; |
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| 154 | } |
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| 155 | else{ |
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| 156 | u = Numer / Denom; |
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| 157 | v = REAL(1.0) - u; |
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| 158 | DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C; |
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| 159 | } |
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| 160 | } |
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| 161 | else{ |
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| 162 | u = REAL(0.0); |
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| 163 | if(Tmp1 <= REAL(0.0)){ |
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| 164 | v = REAL(1.0); |
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| 165 | DistSq = A11 + REAL(2.0) * B1 + C; |
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| 166 | } |
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| 167 | else if(B1 >= REAL(0.0)){ |
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| 168 | v = REAL(0.0); |
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| 169 | DistSq = C; |
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| 170 | } |
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| 171 | else{ |
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| 172 | v = -B1 / A11; |
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| 173 | DistSq = B1 * v + C; |
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| 174 | } |
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| 175 | } |
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| 176 | } |
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| 177 | else if(v < REAL(0.0)){ // region 6 |
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| 178 | Tmp0 = A01 + B1; |
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| 179 | Tmp1 = A00 + B0; |
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| 180 | if (Tmp1 > Tmp0){ |
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| 181 | Numer = Tmp1 - Tmp0; |
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| 182 | Denom = A00 - REAL(2.0) * A01 + A11; |
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| 183 | if (Numer >= Denom){ |
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| 184 | v = REAL(1.0); |
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| 185 | u = REAL(0.0); |
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| 186 | DistSq = A11 + REAL(2.0) * B1 + C; |
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| 187 | } |
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| 188 | else{ |
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| 189 | v = Numer / Denom; |
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| 190 | u = REAL(1.0) - v; |
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| 191 | DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C; |
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| 192 | } |
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| 193 | } |
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| 194 | else{ |
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| 195 | v = REAL(0.0); |
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| 196 | if (Tmp1 <= REAL(0.0)){ |
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| 197 | u = REAL(1.0); |
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| 198 | DistSq = A00 + REAL(2.0) * B0 + C; |
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| 199 | } |
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| 200 | else if(B0 >= REAL(0.0)){ |
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| 201 | u = REAL(0.0); |
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| 202 | DistSq = C; |
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| 203 | } |
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| 204 | else{ |
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| 205 | u = -B0 / A00; |
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| 206 | DistSq = B0 * u + C; |
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| 207 | } |
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| 208 | } |
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| 209 | } |
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| 210 | else{ // region 1 |
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| 211 | Numer = A11 + B1 - A01 - B0; |
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| 212 | if (Numer <= REAL(0.0)){ |
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| 213 | u = REAL(0.0); |
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| 214 | v = REAL(1.0); |
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| 215 | DistSq = A11 + REAL(2.0) * B1 + C; |
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| 216 | } |
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| 217 | else{ |
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| 218 | Denom = A00 - REAL(2.0) * A01 + A11; |
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| 219 | if (Numer >= Denom){ |
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| 220 | u = REAL(1.0); |
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| 221 | v = REAL(0.0); |
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| 222 | DistSq = A00 + REAL(2.0) * B0 + C; |
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| 223 | } |
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| 224 | else{ |
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| 225 | u = Numer / Denom; |
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| 226 | v = REAL(1.0) - u; |
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| 227 | DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C; |
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| 228 | } |
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| 229 | } |
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| 230 | } |
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| 231 | } |
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| 232 | |
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| 233 | Dist = dSqrt(dFabs(DistSq)); |
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| 234 | |
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| 235 | if (Dist <= Radius){ |
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| 236 | Dist = Radius - Dist; |
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| 237 | return true; |
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| 238 | } |
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| 239 | else return false; |
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| 240 | } |
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| 241 | |
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| 242 | int dCollideSTL(dxGeom* g1, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){ |
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| 243 | dIASSERT (Stride >= (int)sizeof(dContactGeom)); |
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| 244 | dIASSERT (g1->type == dTriMeshClass); |
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| 245 | dIASSERT (SphereGeom->type == dSphereClass); |
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| 246 | dIASSERT ((Flags & NUMC_MASK) >= 1); |
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| 247 | |
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| 248 | dxTriMesh* TriMesh = (dxTriMesh*)g1; |
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| 249 | |
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| 250 | // Init |
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| 251 | const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh); |
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| 252 | const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh); |
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| 253 | |
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| 254 | SphereCollider& Collider = TriMesh->_SphereCollider; |
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| 255 | |
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| 256 | const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom); |
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| 257 | dReal Radius = dGeomSphereGetRadius(SphereGeom); |
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| 258 | |
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| 259 | // Sphere |
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| 260 | Sphere Sphere; |
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| 261 | Sphere.mCenter.x = Position[0]; |
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| 262 | Sphere.mCenter.y = Position[1]; |
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| 263 | Sphere.mCenter.z = Position[2]; |
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| 264 | Sphere.mRadius = Radius; |
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| 265 | |
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| 266 | Matrix4x4 amatrix; |
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| 267 | |
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| 268 | // TC results |
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| 269 | if (TriMesh->doSphereTC) { |
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| 270 | dxTriMesh::SphereTC* sphereTC = 0; |
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| 271 | for (int i = 0; i < TriMesh->SphereTCCache.size(); i++){ |
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| 272 | if (TriMesh->SphereTCCache[i].Geom == SphereGeom){ |
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| 273 | sphereTC = &TriMesh->SphereTCCache[i]; |
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| 274 | break; |
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| 275 | } |
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| 276 | } |
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| 277 | |
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| 278 | if (!sphereTC){ |
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| 279 | TriMesh->SphereTCCache.push(dxTriMesh::SphereTC()); |
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| 280 | |
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| 281 | sphereTC = &TriMesh->SphereTCCache[TriMesh->SphereTCCache.size() - 1]; |
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| 282 | sphereTC->Geom = SphereGeom; |
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| 283 | } |
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| 284 | |
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| 285 | // Intersect |
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| 286 | Collider.SetTemporalCoherence(true); |
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| 287 | Collider.Collide(*sphereTC, Sphere, TriMesh->Data->BVTree, null, |
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| 288 | &MakeMatrix(TLPosition, TLRotation, amatrix)); |
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| 289 | } |
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| 290 | else { |
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| 291 | Collider.SetTemporalCoherence(false); |
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| 292 | Collider.Collide(dxTriMesh::defaultSphereCache, Sphere, TriMesh->Data->BVTree, null, |
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| 293 | &MakeMatrix(TLPosition, TLRotation, amatrix)); |
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| 294 | } |
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| 295 | |
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| 296 | if (! Collider.GetContactStatus()) { |
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| 297 | // no collision occurred |
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| 298 | return 0; |
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| 299 | } |
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| 300 | |
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| 301 | // get results |
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| 302 | int TriCount = Collider.GetNbTouchedPrimitives(); |
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| 303 | const int* Triangles = (const int*)Collider.GetTouchedPrimitives(); |
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| 304 | |
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| 305 | if (TriCount != 0){ |
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| 306 | if (TriMesh->ArrayCallback != null){ |
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| 307 | TriMesh->ArrayCallback(TriMesh, SphereGeom, Triangles, TriCount); |
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| 308 | } |
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| 309 | |
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| 310 | int OutTriCount = 0; |
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| 311 | for (int i = 0; i < TriCount; i++){ |
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| 312 | if (OutTriCount == (Flags & NUMC_MASK)){ |
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| 313 | break; |
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| 314 | } |
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| 315 | |
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| 316 | const int TriIndex = Triangles[i]; |
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| 317 | |
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| 318 | dVector3 dv[3]; |
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| 319 | if (!Callback(TriMesh, SphereGeom, TriIndex)) |
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| 320 | continue; |
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| 321 | FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv); |
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| 322 | |
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| 323 | dVector3& v0 = dv[0]; |
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| 324 | dVector3& v1 = dv[1]; |
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| 325 | dVector3& v2 = dv[2]; |
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| 326 | |
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| 327 | dVector3 vu; |
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| 328 | vu[0] = v1[0] - v0[0]; |
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| 329 | vu[1] = v1[1] - v0[1]; |
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| 330 | vu[2] = v1[2] - v0[2]; |
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| 331 | vu[3] = REAL(0.0); |
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| 332 | |
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| 333 | dVector3 vv; |
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| 334 | vv[0] = v2[0] - v0[0]; |
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| 335 | vv[1] = v2[1] - v0[1]; |
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| 336 | vv[2] = v2[2] - v0[2]; |
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| 337 | vv[3] = REAL(0.0); |
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| 338 | |
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| 339 | // Get plane coefficients |
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| 340 | dVector4 Plane; |
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| 341 | dCROSS(Plane, =, vu, vv); |
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| 342 | |
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| 343 | dReal Area = dSqrt(dDOT(Plane, Plane)); // We can use this later |
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| 344 | Plane[0] /= Area; |
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| 345 | Plane[1] /= Area; |
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| 346 | Plane[2] /= Area; |
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| 347 | |
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| 348 | Plane[3] = dDOT(Plane, v0); |
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| 349 | |
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| 350 | /* If the center of the sphere is within the positive halfspace of the |
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| 351 | * triangle's plane, allow a contact to be generated. |
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| 352 | * If the center of the sphere made it into the positive halfspace of a |
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| 353 | * back-facing triangle, then the physics update and/or velocity needs |
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| 354 | * to be adjusted (penetration has occured anyway). |
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| 355 | */ |
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| 356 | |
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| 357 | dReal side = dDOT(Plane,Position) - Plane[3]; |
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| 358 | |
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| 359 | if(side < REAL(0.0)) { |
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| 360 | continue; |
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| 361 | } |
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| 362 | |
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| 363 | dReal Depth; |
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| 364 | dReal u, v; |
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| 365 | if (!GetContactData(Position, Radius, v0, vu, vv, Depth, u, v)){ |
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| 366 | continue; // Sphere doesn't hit triangle |
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| 367 | } |
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| 368 | |
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| 369 | if (Depth < REAL(0.0)){ |
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| 370 | Depth = REAL(0.0); |
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| 371 | } |
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| 372 | |
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| 373 | dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride); |
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| 374 | |
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| 375 | dReal w = REAL(1.0) - u - v; |
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| 376 | Contact->pos[0] = (v0[0] * w) + (v1[0] * u) + (v2[0] * v); |
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| 377 | Contact->pos[1] = (v0[1] * w) + (v1[1] * u) + (v2[1] * v); |
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| 378 | Contact->pos[2] = (v0[2] * w) + (v1[2] * u) + (v2[2] * v); |
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| 379 | Contact->pos[3] = REAL(0.0); |
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| 380 | |
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| 381 | // Using normal as plane (reversed) |
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| 382 | Contact->normal[0] = -Plane[0]; |
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| 383 | Contact->normal[1] = -Plane[1]; |
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| 384 | Contact->normal[2] = -Plane[2]; |
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| 385 | Contact->normal[3] = REAL(0.0); |
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| 386 | |
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| 387 | // Depth returned from GetContactData is depth along |
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| 388 | // contact point - sphere center direction |
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| 389 | // we'll project it to contact normal |
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| 390 | dVector3 dir; |
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| 391 | dir[0] = Position[0]-Contact->pos[0]; |
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| 392 | dir[1] = Position[1]-Contact->pos[1]; |
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| 393 | dir[2] = Position[2]-Contact->pos[2]; |
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| 394 | dReal dirProj = dDOT(dir, Plane) / dSqrt(dDOT(dir, dir)); |
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| 395 | Contact->depth = Depth * dirProj; |
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| 396 | //Contact->depth = Radius - side; // (mg) penetration depth is distance along normal not shortest distance |
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| 397 | Contact->side1 = TriIndex; |
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| 398 | |
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| 399 | //Contact->g1 = TriMesh; |
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| 400 | //Contact->g2 = SphereGeom; |
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| 401 | |
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| 402 | OutTriCount++; |
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| 403 | } |
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| 404 | #ifdef MERGECONTACTS // Merge all contacts into 1 |
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| 405 | if (OutTriCount != 0){ |
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| 406 | dContactGeom* Contact = SAFECONTACT(Flags, Contacts, 0, Stride); |
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| 407 | |
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| 408 | if (OutTriCount != 1 && !(Flags & CONTACTS_UNIMPORTANT)){ |
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| 409 | Contact->normal[0] *= Contact->depth; |
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| 410 | Contact->normal[1] *= Contact->depth; |
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| 411 | Contact->normal[2] *= Contact->depth; |
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| 412 | Contact->normal[3] *= Contact->depth; |
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| 413 | |
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| 414 | for (int i = 1; i < OutTriCount; i++){ |
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| 415 | dContactGeom* TempContact = SAFECONTACT(Flags, Contacts, i, Stride); |
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| 416 | |
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| 417 | Contact->pos[0] += TempContact->pos[0]; |
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| 418 | Contact->pos[1] += TempContact->pos[1]; |
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| 419 | Contact->pos[2] += TempContact->pos[2]; |
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| 420 | Contact->pos[3] += TempContact->pos[3]; |
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| 421 | |
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| 422 | Contact->normal[0] += TempContact->normal[0] * TempContact->depth; |
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| 423 | Contact->normal[1] += TempContact->normal[1] * TempContact->depth; |
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| 424 | Contact->normal[2] += TempContact->normal[2] * TempContact->depth; |
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| 425 | Contact->normal[3] += TempContact->normal[3] * TempContact->depth; |
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| 426 | } |
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| 427 | |
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| 428 | Contact->pos[0] /= OutTriCount; |
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| 429 | Contact->pos[1] /= OutTriCount; |
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| 430 | Contact->pos[2] /= OutTriCount; |
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| 431 | Contact->pos[3] /= OutTriCount; |
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| 432 | |
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| 433 | // Remember to divide in square space. |
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| 434 | Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal) / OutTriCount); |
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| 435 | |
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| 436 | dNormalize3(Contact->normal); |
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| 437 | } |
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| 438 | |
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| 439 | Contact->g1 = TriMesh; |
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| 440 | Contact->g2 = SphereGeom; |
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| 441 | |
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| 442 | // TODO: |
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| 443 | // Side1 now contains index of triangle that gave first hit |
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| 444 | // Probably we should find index of triangle with deepest penetration |
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| 445 | |
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| 446 | return 1; |
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| 447 | } |
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| 448 | else return 0; |
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| 449 | #elif defined MERGECONTACTNORMALS // Merge all normals, and distribute between all contacts |
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| 450 | if (OutTriCount != 0){ |
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| 451 | if (OutTriCount != 1 && !(Flags & CONTACTS_UNIMPORTANT)){ |
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| 452 | dVector3& Normal = SAFECONTACT(Flags, Contacts, 0, Stride)->normal; |
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| 453 | Normal[0] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth; |
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| 454 | Normal[1] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth; |
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| 455 | Normal[2] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth; |
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| 456 | Normal[3] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth; |
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| 457 | |
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| 458 | for (int i = 1; i < OutTriCount; i++){ |
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| 459 | dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride); |
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| 460 | |
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| 461 | Normal[0] += Contact->normal[0] * Contact->depth; |
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| 462 | Normal[1] += Contact->normal[1] * Contact->depth; |
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| 463 | Normal[2] += Contact->normal[2] * Contact->depth; |
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| 464 | Normal[3] += Contact->normal[3] * Contact->depth; |
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| 465 | } |
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| 466 | dNormalize3(Normal); |
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| 467 | |
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| 468 | for (int i = 1; i < OutTriCount; i++){ |
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| 469 | dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride); |
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| 470 | |
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| 471 | Contact->normal[0] = Normal[0]; |
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| 472 | Contact->normal[1] = Normal[1]; |
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| 473 | Contact->normal[2] = Normal[2]; |
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| 474 | Contact->normal[3] = Normal[3]; |
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| 475 | |
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| 476 | Contact->g1 = TriMesh; |
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| 477 | Contact->g2 = SphereGeom; |
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| 478 | } |
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| 479 | } |
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| 480 | else{ |
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| 481 | SAFECONTACT(Flags, Contacts, 0, Stride)->g1 = TriMesh; |
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| 482 | SAFECONTACT(Flags, Contacts, 0, Stride)->g2 = SphereGeom; |
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| 483 | } |
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| 484 | |
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| 485 | return OutTriCount; |
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| 486 | } |
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| 487 | else return 0; |
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| 488 | #else //MERGECONTACTNORMALS // Just gather penetration depths and return |
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| 489 | for (int i = 0; i < OutTriCount; i++){ |
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| 490 | dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride); |
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| 491 | |
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| 492 | //Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal)); |
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| 493 | |
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| 494 | /*Contact->normal[0] /= Contact->depth; |
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| 495 | Contact->normal[1] /= Contact->depth; |
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| 496 | Contact->normal[2] /= Contact->depth; |
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| 497 | Contact->normal[3] /= Contact->depth;*/ |
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| 498 | |
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| 499 | Contact->g1 = TriMesh; |
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| 500 | Contact->g2 = SphereGeom; |
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| 501 | } |
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| 502 | |
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| 503 | return OutTriCount; |
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| 504 | #endif // MERGECONTACTS |
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| 505 | } |
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| 506 | else return 0; |
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| 507 | } |
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| 508 | #endif // dTRIMESH_OPCODE |
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| 509 | |
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| 510 | #if dTRIMESH_GIMPACT |
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| 511 | int dCollideSTL(dxGeom* g1, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride) |
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| 512 | { |
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| 513 | dIASSERT (Stride >= (int)sizeof(dContactGeom)); |
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| 514 | dIASSERT (g1->type == dTriMeshClass); |
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| 515 | dIASSERT (SphereGeom->type == dSphereClass); |
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| 516 | dIASSERT ((Flags & NUMC_MASK) >= 1); |
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| 517 | |
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| 518 | dxTriMesh* TriMesh = (dxTriMesh*)g1; |
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| 519 | dVector3& Position = *(dVector3*)dGeomGetPosition(SphereGeom); |
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| 520 | dReal Radius = dGeomSphereGetRadius(SphereGeom); |
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| 521 | //Create contact list |
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| 522 | GDYNAMIC_ARRAY trimeshcontacts; |
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| 523 | GIM_CREATE_CONTACT_LIST(trimeshcontacts); |
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| 524 | |
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| 525 | //Collide trimeshes |
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| 526 | gim_trimesh_sphere_collision(&TriMesh->m_collision_trimesh,Position,Radius,&trimeshcontacts); |
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| 527 | |
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| 528 | if(trimeshcontacts.m_size == 0) |
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| 529 | { |
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| 530 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
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| 531 | return 0; |
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| 532 | } |
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| 533 | |
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| 534 | GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); |
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| 535 | |
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| 536 | unsigned contactcount = trimeshcontacts.m_size; |
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| 537 | unsigned maxcontacts = (unsigned)(Flags & NUMC_MASK); |
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| 538 | if (contactcount > maxcontacts) |
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| 539 | { |
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| 540 | contactcount = maxcontacts; |
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| 541 | } |
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| 542 | |
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| 543 | dContactGeom* pcontact; |
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| 544 | unsigned i; |
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| 545 | |
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| 546 | for (i=0;i<contactcount;i++) |
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| 547 | { |
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| 548 | pcontact = SAFECONTACT(Flags, Contacts, i, Stride); |
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| 549 | |
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| 550 | pcontact->pos[0] = ptrimeshcontacts->m_point[0]; |
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| 551 | pcontact->pos[1] = ptrimeshcontacts->m_point[1]; |
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| 552 | pcontact->pos[2] = ptrimeshcontacts->m_point[2]; |
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| 553 | pcontact->pos[3] = REAL(1.0); |
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| 554 | |
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| 555 | pcontact->normal[0] = ptrimeshcontacts->m_normal[0]; |
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| 556 | pcontact->normal[1] = ptrimeshcontacts->m_normal[1]; |
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| 557 | pcontact->normal[2] = ptrimeshcontacts->m_normal[2]; |
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| 558 | pcontact->normal[3] = 0; |
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| 559 | |
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| 560 | pcontact->depth = ptrimeshcontacts->m_depth; |
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| 561 | pcontact->g1 = g1; |
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| 562 | pcontact->g2 = SphereGeom; |
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| 563 | |
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| 564 | ptrimeshcontacts++; |
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| 565 | } |
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| 566 | |
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| 567 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
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| 568 | |
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| 569 | return (int)contactcount; |
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| 570 | } |
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| 571 | #endif // dTRIMESH_GIMPACT |
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| 572 | |
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| 573 | #endif // dTRIMESH_ENABLED |
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