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 | |
---|
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 | } |
---|
506 | else return 0; |
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507 | } |
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508 | #endif // dTRIMESH_OPCODE |
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509 | |
---|
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); |
---|
527 | |
---|
528 | if(trimeshcontacts.m_size == 0) |
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529 | { |
---|
530 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
---|
531 | return 0; |
---|
532 | } |
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533 | |
---|
534 | GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); |
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535 | |
---|
536 | unsigned contactcount = trimeshcontacts.m_size; |
---|
537 | unsigned maxcontacts = (unsigned)(Flags & NUMC_MASK); |
---|
538 | if (contactcount > maxcontacts) |
---|
539 | { |
---|
540 | contactcount = maxcontacts; |
---|
541 | } |
---|
542 | |
---|
543 | dContactGeom* pcontact; |
---|
544 | unsigned i; |
---|
545 | |
---|
546 | for (i=0;i<contactcount;i++) |
---|
547 | { |
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548 | pcontact = SAFECONTACT(Flags, Contacts, i, Stride); |
---|
549 | |
---|
550 | pcontact->pos[0] = ptrimeshcontacts->m_point[0]; |
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551 | pcontact->pos[1] = ptrimeshcontacts->m_point[1]; |
---|
552 | pcontact->pos[2] = ptrimeshcontacts->m_point[2]; |
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553 | pcontact->pos[3] = REAL(1.0); |
---|
554 | |
---|
555 | pcontact->normal[0] = ptrimeshcontacts->m_normal[0]; |
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556 | pcontact->normal[1] = ptrimeshcontacts->m_normal[1]; |
---|
557 | pcontact->normal[2] = ptrimeshcontacts->m_normal[2]; |
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558 | pcontact->normal[3] = 0; |
---|
559 | |
---|
560 | pcontact->depth = ptrimeshcontacts->m_depth; |
---|
561 | pcontact->g1 = g1; |
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562 | pcontact->g2 = SphereGeom; |
---|
563 | |
---|
564 | ptrimeshcontacts++; |
---|
565 | } |
---|
566 | |
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567 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
---|
568 | |
---|
569 | return (int)contactcount; |
---|
570 | } |
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571 | #endif // dTRIMESH_GIMPACT |
---|
572 | |
---|
573 | #endif // dTRIMESH_ENABLED |
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