[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 | // OPCODE TriMesh/TriMesh collision code |
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| 24 | // Written at 2006-10-28 by Francisco León (http://gimpact.sourceforge.net) |
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| 25 | |
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| 26 | #ifdef _MSC_VER |
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| 27 | #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints |
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| 28 | #endif |
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| 29 | |
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| 30 | #include <ode/collision.h> |
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| 31 | #include <ode/matrix.h> |
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| 32 | #include <ode/rotation.h> |
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| 33 | #include <ode/odemath.h> |
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| 34 | |
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| 35 | // New Implementation |
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| 36 | #if dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER |
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| 37 | |
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| 38 | #if dTRIMESH_ENABLED |
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| 39 | |
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| 40 | #include "collision_util.h" |
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| 41 | #define TRIMESH_INTERNAL |
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| 42 | #include "collision_trimesh_internal.h" |
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| 43 | |
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| 44 | #if dTRIMESH_OPCODE |
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| 45 | |
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| 46 | #define SMALL_ELT REAL(2.5e-4) |
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| 47 | #define EXPANDED_ELT_THRESH REAL(1.0e-3) |
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| 48 | #define DISTANCE_EPSILON REAL(1.0e-8) |
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| 49 | #define VELOCITY_EPSILON REAL(1.0e-5) |
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| 50 | #define TINY_PENETRATION REAL(5.0e-6) |
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| 51 | |
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| 52 | struct LineContactSet |
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| 53 | { |
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| 54 | enum |
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| 55 | { |
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| 56 | MAX_POINTS = 8 |
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| 57 | }; |
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| 58 | |
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| 59 | dVector3 Points[MAX_POINTS]; |
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| 60 | int Count; |
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| 61 | }; |
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| 62 | |
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| 63 | |
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| 64 | static void GetTriangleGeometryCallback(udword, VertexPointers&, udword); |
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| 65 | inline void dMakeMatrix4(const dVector3 Position, const dMatrix3 Rotation, dMatrix4 &B); |
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| 66 | static void dInvertMatrix4( dMatrix4& B, dMatrix4& Binv ); |
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| 67 | static int IntersectLineSegmentRay(dVector3, dVector3, dVector3, dVector3, dVector3); |
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| 68 | static void ClipConvexPolygonAgainstPlane( const dVector3, dReal, LineContactSet& ); |
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| 69 | static int RayTriangleIntersect(const dVector3 orig, const dVector3 dir, |
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| 70 | const dVector3 vert0, const dVector3 vert1,const dVector3 vert2, |
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| 71 | dReal *t,dReal *u,dReal *v); |
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| 72 | |
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| 73 | |
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| 74 | ///returns the penetration depth |
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| 75 | static dReal MostDeepPoints( |
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| 76 | LineContactSet & points, |
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| 77 | const dVector3 plane_normal, |
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| 78 | dReal plane_dist, |
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| 79 | LineContactSet & deep_points); |
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| 80 | ///returns the penetration depth |
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| 81 | static dReal FindMostDeepPointsInTetra( |
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| 82 | LineContactSet contact_points, |
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| 83 | const dVector3 sourcetri[3],///triangle which contains contact_points |
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| 84 | const dVector3 tetra[4], |
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| 85 | const dVector4 tetraplanes[4], |
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| 86 | dVector3 separating_normal, |
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| 87 | LineContactSet deep_points); |
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| 88 | |
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| 89 | static bool ClipTriByTetra(const dVector3 tri[3], |
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| 90 | const dVector3 tetra[4], |
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| 91 | LineContactSet& Contacts); |
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| 92 | static bool TriTriContacts(const dVector3 tr1[3], |
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| 93 | const dVector3 tr2[3], |
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| 94 | dxGeom* g1, dxGeom* g2, int Flags, |
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| 95 | dContactGeom* Contacts, int Stride, |
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| 96 | int &contactcount); |
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| 97 | |
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| 98 | |
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| 99 | /* some math macros */ |
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| 100 | #define CROSS(dest,v1,v2) { dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \ |
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| 101 | dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \ |
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| 102 | dest[2]=v1[0]*v2[1]-v1[1]*v2[0]; } |
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| 103 | |
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| 104 | #define DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2]) |
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| 105 | |
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| 106 | #define SUB(dest,v1,v2) { dest[0]=v1[0]-v2[0]; dest[1]=v1[1]-v2[1]; dest[2]=v1[2]-v2[2]; } |
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| 107 | |
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| 108 | #define ADD(dest,v1,v2) { dest[0]=v1[0]+v2[0]; dest[1]=v1[1]+v2[1]; dest[2]=v1[2]+v2[2]; } |
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| 109 | |
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| 110 | #define MULT(dest,v,factor) { dest[0]=factor*v[0]; dest[1]=factor*v[1]; dest[2]=factor*v[2]; } |
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| 111 | |
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| 112 | #define SET(dest,src) { dest[0]=src[0]; dest[1]=src[1]; dest[2]=src[2]; } |
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| 113 | |
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| 114 | #define SMULT(p,q,s) { p[0]=q[0]*s; p[1]=q[1]*s; p[2]=q[2]*s; } |
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| 115 | |
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| 116 | #define COMBO(combo,p,t,q) { combo[0]=p[0]+t*q[0]; combo[1]=p[1]+t*q[1]; combo[2]=p[2]+t*q[2]; } |
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| 117 | |
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| 118 | #define LENGTH(x) ((dReal) 1.0f/InvSqrt(dDOT(x, x))) |
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| 119 | |
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| 120 | #define DEPTH(d, p, q, n) d = (p[0] - q[0])*n[0] + (p[1] - q[1])*n[1] + (p[2] - q[2])*n[2]; |
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| 121 | |
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| 122 | inline const dReal dMin(const dReal x, const dReal y) |
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| 123 | { |
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| 124 | return x < y ? x : y; |
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| 125 | } |
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| 126 | |
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| 127 | |
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| 128 | inline void |
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| 129 | SwapNormals(dVector3 *&pen_v, dVector3 *&col_v, dVector3* v1, dVector3* v2, |
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| 130 | dVector3 *&pen_elt, dVector3 *elt_f1, dVector3 *elt_f2, |
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| 131 | dVector3 n, dVector3 n1, dVector3 n2) |
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| 132 | { |
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| 133 | if (pen_v == v1) { |
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| 134 | pen_v = v2; |
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| 135 | pen_elt = elt_f2; |
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| 136 | col_v = v1; |
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| 137 | SET(n, n1); |
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| 138 | } |
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| 139 | else { |
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| 140 | pen_v = v1; |
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| 141 | pen_elt = elt_f1; |
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| 142 | col_v = v2; |
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| 143 | SET(n, n2); |
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| 144 | } |
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| 145 | } |
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| 146 | |
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| 147 | ///////////////////////MECHANISM FOR AVOID CONTACT REDUNDANCE/////////////////////////////// |
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| 148 | ////* Written by Francisco León (http://gimpact.sourceforge.net) */// |
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| 149 | #define CONTACT_DIFF_EPSILON REAL(0.00001) |
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| 150 | #if defined(dDOUBLE) |
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| 151 | #define CONTACT_NORMAL_ZERO REAL(0.0000001) |
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| 152 | #else // if defined(dSINGLE) |
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| 153 | #define CONTACT_NORMAL_ZERO REAL(0.00001) |
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| 154 | #endif |
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| 155 | #define CONTACT_POS_HASH_QUOTIENT REAL(10000.0) |
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| 156 | #define dSQRT3 REAL(1.7320508075688773) |
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| 157 | |
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| 158 | struct CONTACT_KEY |
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| 159 | { |
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| 160 | dContactGeom * m_contact; |
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| 161 | unsigned int m_key; |
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| 162 | }; |
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| 163 | |
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| 164 | #define MAXCONTACT_X_NODE 4 |
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| 165 | struct CONTACT_KEY_HASH_NODE |
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| 166 | { |
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| 167 | CONTACT_KEY m_keyarray[MAXCONTACT_X_NODE]; |
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| 168 | int m_keycount; |
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| 169 | }; |
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| 170 | |
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| 171 | #define CONTACTS_HASHSIZE 256 |
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| 172 | CONTACT_KEY_HASH_NODE g_hashcontactset[CONTACTS_HASHSIZE]; |
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| 173 | |
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| 174 | |
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| 175 | |
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| 176 | void UpdateContactKey(CONTACT_KEY & key, dContactGeom * contact) |
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| 177 | { |
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| 178 | key.m_contact = contact; |
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| 179 | |
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| 180 | unsigned int hash=0; |
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| 181 | |
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| 182 | int i = 0; |
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| 183 | |
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| 184 | while (true) |
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| 185 | { |
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| 186 | dReal coord = contact->pos[i]; |
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| 187 | coord = dFloor(coord * CONTACT_POS_HASH_QUOTIENT); |
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| 188 | |
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| 189 | unsigned int hash_input = ((unsigned int *)&coord)[0]; |
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| 190 | if (sizeof(dReal) / sizeof(unsigned int) != 1) |
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| 191 | { |
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| 192 | dIASSERT(sizeof(dReal) / sizeof(unsigned int) == 2); |
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| 193 | hash_input ^= ((unsigned int *)&coord)[1]; |
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| 194 | } |
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| 195 | |
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| 196 | hash = (( hash << 4 ) + (hash_input >> 24)) ^ ( hash >> 28 ); |
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| 197 | hash = (( hash << 4 ) + ((hash_input >> 16) & 0xFF)) ^ ( hash >> 28 ); |
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| 198 | hash = (( hash << 4 ) + ((hash_input >> 8) & 0xFF)) ^ ( hash >> 28 ); |
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| 199 | hash = (( hash << 4 ) + (hash_input & 0xFF)) ^ ( hash >> 28 ); |
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| 200 | |
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| 201 | if (++i == 3) |
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| 202 | { |
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| 203 | break; |
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| 204 | } |
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| 205 | |
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| 206 | hash = (hash << 11) | (hash >> 21); |
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| 207 | } |
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| 208 | |
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| 209 | key.m_key = hash; |
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| 210 | } |
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| 211 | |
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| 212 | |
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| 213 | static inline unsigned int MakeContactIndex(unsigned int key) |
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| 214 | { |
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| 215 | dIASSERT(CONTACTS_HASHSIZE == 256); |
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| 216 | |
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| 217 | unsigned int index = key ^ (key >> 16); |
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| 218 | index = (index ^ (index >> 8)) & 0xFF; |
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| 219 | return index; |
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| 220 | } |
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| 221 | |
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| 222 | dContactGeom *AddContactToNode(const CONTACT_KEY * contactkey,CONTACT_KEY_HASH_NODE * node) |
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| 223 | { |
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| 224 | for(int i=0;i<node->m_keycount;i++) |
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| 225 | { |
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| 226 | if(node->m_keyarray[i].m_key == contactkey->m_key) |
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| 227 | { |
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| 228 | dContactGeom *contactfound = node->m_keyarray[i].m_contact; |
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| 229 | if (dDISTANCE(contactfound->pos, contactkey->m_contact->pos) < REAL(1.00001) /*for comp. errors*/ * dSQRT3 / CONTACT_POS_HASH_QUOTIENT /*cube diagonal*/) |
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| 230 | { |
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| 231 | return contactfound; |
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| 232 | } |
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| 233 | } |
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| 234 | } |
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| 235 | |
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| 236 | if (node->m_keycount < MAXCONTACT_X_NODE) |
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| 237 | { |
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| 238 | node->m_keyarray[node->m_keycount].m_contact = contactkey->m_contact; |
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| 239 | node->m_keyarray[node->m_keycount].m_key = contactkey->m_key; |
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| 240 | node->m_keycount++; |
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| 241 | } |
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| 242 | else |
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| 243 | { |
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| 244 | dDEBUGMSG("Trimesh-trimesh contach hash table bucket overflow - close contacts might not be culled"); |
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| 245 | } |
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| 246 | |
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| 247 | return contactkey->m_contact; |
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| 248 | } |
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| 249 | |
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| 250 | void RemoveNewContactFromNode(const CONTACT_KEY * contactkey, CONTACT_KEY_HASH_NODE * node) |
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| 251 | { |
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| 252 | dIASSERT(node->m_keycount > 0); |
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| 253 | |
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| 254 | if (node->m_keyarray[node->m_keycount - 1].m_contact == contactkey->m_contact) |
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| 255 | { |
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| 256 | node->m_keycount -= 1; |
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| 257 | } |
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| 258 | else |
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| 259 | { |
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| 260 | dIASSERT(node->m_keycount == MAXCONTACT_X_NODE); |
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| 261 | } |
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| 262 | } |
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| 263 | |
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| 264 | void RemoveArbitraryContactFromNode(const CONTACT_KEY *contactkey, CONTACT_KEY_HASH_NODE *node) |
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| 265 | { |
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| 266 | dIASSERT(node->m_keycount > 0); |
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| 267 | |
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| 268 | int keyindex, lastkeyindex = node->m_keycount - 1; |
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| 269 | |
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| 270 | // Do not check the last contact |
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| 271 | for (keyindex = 0; keyindex < lastkeyindex; keyindex++) |
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| 272 | { |
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| 273 | if (node->m_keyarray[keyindex].m_contact == contactkey->m_contact) |
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| 274 | { |
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| 275 | node->m_keyarray[keyindex] = node->m_keyarray[lastkeyindex]; |
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| 276 | break; |
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| 277 | } |
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| 278 | } |
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| 279 | |
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| 280 | dIASSERT(keyindex < lastkeyindex || |
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| 281 | node->m_keyarray[keyindex].m_contact == contactkey->m_contact); // It has been either the break from loop or last element should match |
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| 282 | |
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| 283 | node->m_keycount = lastkeyindex; |
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| 284 | } |
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| 285 | |
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| 286 | void UpdateArbitraryContactInNode(const CONTACT_KEY *contactkey, CONTACT_KEY_HASH_NODE *node, |
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| 287 | dContactGeom *pwithcontact) |
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| 288 | { |
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| 289 | dIASSERT(node->m_keycount > 0); |
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| 290 | |
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| 291 | int keyindex, lastkeyindex = node->m_keycount - 1; |
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| 292 | |
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| 293 | // Do not check the last contact |
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| 294 | for (keyindex = 0; keyindex < lastkeyindex; keyindex++) |
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| 295 | { |
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| 296 | if (node->m_keyarray[keyindex].m_contact == contactkey->m_contact) |
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| 297 | { |
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| 298 | break; |
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| 299 | } |
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| 300 | } |
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| 301 | |
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| 302 | dIASSERT(keyindex < lastkeyindex || |
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| 303 | node->m_keyarray[keyindex].m_contact == contactkey->m_contact); // It has been either the break from loop or last element should match |
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| 304 | |
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| 305 | node->m_keyarray[keyindex].m_contact = pwithcontact; |
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| 306 | } |
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| 307 | |
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| 308 | void ClearContactSet() |
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| 309 | { |
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| 310 | memset(g_hashcontactset,0,sizeof(CONTACT_KEY_HASH_NODE)*CONTACTS_HASHSIZE); |
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| 311 | } |
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| 312 | |
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| 313 | //return true if found |
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| 314 | dContactGeom *InsertContactInSet(const CONTACT_KEY &newkey) |
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| 315 | { |
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| 316 | unsigned int index = MakeContactIndex(newkey.m_key); |
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| 317 | |
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| 318 | return AddContactToNode(&newkey, &g_hashcontactset[index]); |
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| 319 | } |
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| 320 | |
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| 321 | void RemoveNewContactFromSet(const CONTACT_KEY &contactkey) |
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| 322 | { |
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| 323 | unsigned int index = MakeContactIndex(contactkey.m_key); |
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| 324 | |
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| 325 | RemoveNewContactFromNode(&contactkey, &g_hashcontactset[index]); |
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| 326 | } |
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| 327 | |
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| 328 | void RemoveArbitraryContactFromSet(const CONTACT_KEY &contactkey) |
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| 329 | { |
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| 330 | unsigned int index = MakeContactIndex(contactkey.m_key); |
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| 331 | |
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| 332 | RemoveArbitraryContactFromNode(&contactkey, &g_hashcontactset[index]); |
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| 333 | } |
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| 334 | |
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| 335 | void UpdateArbitraryContactInSet(const CONTACT_KEY &contactkey, |
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| 336 | dContactGeom *pwithcontact) |
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| 337 | { |
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| 338 | unsigned int index = MakeContactIndex(contactkey.m_key); |
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| 339 | |
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| 340 | UpdateArbitraryContactInNode(&contactkey, &g_hashcontactset[index], pwithcontact); |
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| 341 | } |
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| 342 | |
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| 343 | bool AllocNewContact( |
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| 344 | const dVector3 newpoint, dContactGeom *& out_pcontact, |
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| 345 | int Flags, dContactGeom* Contacts, |
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| 346 | int Stride, int &contactcount) |
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| 347 | { |
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| 348 | bool allocated_new = false; |
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| 349 | |
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| 350 | dContactGeom dLocalContact; |
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| 351 | |
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| 352 | dContactGeom * pcontact = contactcount != (Flags & NUMC_MASK) ? |
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| 353 | SAFECONTACT(Flags, Contacts, contactcount, Stride) : &dLocalContact; |
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| 354 | |
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| 355 | pcontact->pos[0] = newpoint[0]; |
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| 356 | pcontact->pos[1] = newpoint[1]; |
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| 357 | pcontact->pos[2] = newpoint[2]; |
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| 358 | pcontact->pos[3] = 1.0f; |
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| 359 | |
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| 360 | CONTACT_KEY newkey; |
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| 361 | UpdateContactKey(newkey, pcontact); |
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| 362 | |
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| 363 | dContactGeom *pcontactfound = InsertContactInSet(newkey); |
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| 364 | if (pcontactfound == pcontact) |
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| 365 | { |
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| 366 | if (pcontactfound != &dLocalContact) |
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| 367 | { |
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| 368 | contactcount++; |
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| 369 | } |
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| 370 | else |
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| 371 | { |
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| 372 | RemoveNewContactFromSet(newkey); |
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| 373 | pcontactfound = NULL; |
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| 374 | } |
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| 375 | |
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| 376 | allocated_new = true; |
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| 377 | } |
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| 378 | |
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| 379 | out_pcontact = pcontactfound; |
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| 380 | return allocated_new; |
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| 381 | } |
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| 382 | |
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| 383 | void FreeExistingContact(dContactGeom *pcontact, |
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| 384 | int Flags, dContactGeom *Contacts, |
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| 385 | int Stride, int &contactcount) |
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| 386 | { |
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| 387 | CONTACT_KEY contactKey; |
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| 388 | UpdateContactKey(contactKey, pcontact); |
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| 389 | |
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| 390 | RemoveArbitraryContactFromSet(contactKey); |
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| 391 | |
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| 392 | int lastContactIndex = contactcount - 1; |
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| 393 | dContactGeom *plastContact = SAFECONTACT(Flags, Contacts, lastContactIndex, Stride); |
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| 394 | |
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| 395 | if (pcontact != plastContact) |
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| 396 | { |
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| 397 | *pcontact = *plastContact; |
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| 398 | |
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| 399 | CONTACT_KEY lastContactKey; |
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| 400 | UpdateContactKey(lastContactKey, plastContact); |
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| 401 | |
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| 402 | UpdateArbitraryContactInSet(lastContactKey, pcontact); |
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| 403 | } |
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| 404 | |
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| 405 | contactcount = lastContactIndex; |
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| 406 | } |
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| 407 | |
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| 408 | |
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| 409 | dContactGeom * PushNewContact( dxGeom* g1, dxGeom* g2, |
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| 410 | const dVector3 point, |
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| 411 | dVector3 normal, |
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| 412 | dReal depth, |
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| 413 | int Flags, |
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| 414 | dContactGeom* Contacts, int Stride, |
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| 415 | int &contactcount) |
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| 416 | { |
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| 417 | dIASSERT(dFabs(dVector3Length((const dVector3 &)(*normal)) - REAL(1.0)) < REAL(1e-6)); // This assumption is used in the code |
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| 418 | |
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| 419 | dContactGeom * pcontact; |
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| 420 | |
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| 421 | if (!AllocNewContact(point, pcontact, Flags, Contacts, Stride, contactcount)) |
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| 422 | { |
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| 423 | const dReal depthDifference = depth - pcontact->depth; |
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| 424 | |
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| 425 | if (depthDifference > CONTACT_DIFF_EPSILON) |
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| 426 | { |
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| 427 | pcontact->normal[0] = normal[0]; |
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| 428 | pcontact->normal[1] = normal[1]; |
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| 429 | pcontact->normal[2] = normal[2]; |
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| 430 | pcontact->normal[3] = REAL(1.0); // used to store length of vector sum for averaging |
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| 431 | pcontact->depth = depth; |
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| 432 | |
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| 433 | pcontact->g1 = g1; |
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| 434 | pcontact->g2 = g2; |
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| 435 | } |
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| 436 | else if (depthDifference >= -CONTACT_DIFF_EPSILON) ///average |
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| 437 | { |
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| 438 | if(pcontact->g1 == g2) |
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| 439 | { |
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| 440 | MULT(normal,normal, REAL(-1.0)); |
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| 441 | } |
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| 442 | |
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| 443 | const dReal oldLen = pcontact->normal[3]; |
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| 444 | COMBO(pcontact->normal, normal, oldLen, pcontact->normal); |
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| 445 | |
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| 446 | const dReal len = LENGTH(pcontact->normal); |
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| 447 | if (len > CONTACT_NORMAL_ZERO) |
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| 448 | { |
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| 449 | MULT(pcontact->normal, pcontact->normal, REAL(1.0) / len); |
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| 450 | pcontact->normal[3] = len; |
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| 451 | } |
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| 452 | else |
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| 453 | { |
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| 454 | FreeExistingContact(pcontact, Flags, Contacts, Stride, contactcount); |
---|
| 455 | } |
---|
| 456 | } |
---|
| 457 | } |
---|
| 458 | // Contact can be not available if buffer is full |
---|
| 459 | else if (pcontact) |
---|
| 460 | { |
---|
| 461 | pcontact->normal[0] = normal[0]; |
---|
| 462 | pcontact->normal[1] = normal[1]; |
---|
| 463 | pcontact->normal[2] = normal[2]; |
---|
| 464 | pcontact->normal[3] = REAL(1.0); // used to store length of vector sum for averaging |
---|
| 465 | pcontact->depth = depth; |
---|
| 466 | pcontact->g1 = g1; |
---|
| 467 | pcontact->g2 = g2; |
---|
| 468 | } |
---|
| 469 | |
---|
| 470 | return pcontact; |
---|
| 471 | } |
---|
| 472 | |
---|
| 473 | //////////////////////////////////////////////////////////////////////////////////////////// |
---|
| 474 | |
---|
| 475 | |
---|
| 476 | |
---|
| 477 | |
---|
| 478 | |
---|
| 479 | int |
---|
| 480 | dCollideTTL(dxGeom* g1, dxGeom* g2, int Flags, dContactGeom* Contacts, int Stride) |
---|
| 481 | { |
---|
| 482 | dIASSERT (Stride >= (int)sizeof(dContactGeom)); |
---|
| 483 | dIASSERT (g1->type == dTriMeshClass); |
---|
| 484 | dIASSERT (g2->type == dTriMeshClass); |
---|
| 485 | dIASSERT ((Flags & NUMC_MASK) >= 1); |
---|
| 486 | |
---|
| 487 | dxTriMesh* TriMesh1 = (dxTriMesh*) g1; |
---|
| 488 | dxTriMesh* TriMesh2 = (dxTriMesh*) g2; |
---|
| 489 | |
---|
| 490 | dReal * TriNormals1 = (dReal *) TriMesh1->Data->Normals; |
---|
| 491 | dReal * TriNormals2 = (dReal *) TriMesh2->Data->Normals; |
---|
| 492 | |
---|
| 493 | const dVector3& TLPosition1 = *(const dVector3*) dGeomGetPosition(TriMesh1); |
---|
| 494 | // TLRotation1 = column-major order |
---|
| 495 | const dMatrix3& TLRotation1 = *(const dMatrix3*) dGeomGetRotation(TriMesh1); |
---|
| 496 | |
---|
| 497 | const dVector3& TLPosition2 = *(const dVector3*) dGeomGetPosition(TriMesh2); |
---|
| 498 | // TLRotation2 = column-major order |
---|
| 499 | const dMatrix3& TLRotation2 = *(const dMatrix3*) dGeomGetRotation(TriMesh2); |
---|
| 500 | |
---|
| 501 | AABBTreeCollider& Collider = TriMesh1->_AABBTreeCollider; |
---|
| 502 | |
---|
| 503 | |
---|
| 504 | static BVTCache ColCache; |
---|
| 505 | ColCache.Model0 = &TriMesh1->Data->BVTree; |
---|
| 506 | ColCache.Model1 = &TriMesh2->Data->BVTree; |
---|
| 507 | |
---|
| 508 | ////Prepare contact list |
---|
| 509 | ClearContactSet(); |
---|
| 510 | |
---|
| 511 | // Collision query |
---|
| 512 | Matrix4x4 amatrix, bmatrix; |
---|
| 513 | BOOL IsOk = Collider.Collide(ColCache, |
---|
| 514 | &MakeMatrix(TLPosition1, TLRotation1, amatrix), |
---|
| 515 | &MakeMatrix(TLPosition2, TLRotation2, bmatrix) ); |
---|
| 516 | |
---|
| 517 | |
---|
| 518 | // Make "double" versions of these matrices, if appropriate |
---|
| 519 | dMatrix4 A, B; |
---|
| 520 | dMakeMatrix4(TLPosition1, TLRotation1, A); |
---|
| 521 | dMakeMatrix4(TLPosition2, TLRotation2, B); |
---|
| 522 | |
---|
| 523 | |
---|
| 524 | |
---|
| 525 | |
---|
| 526 | if (IsOk) { |
---|
| 527 | // Get collision status => if true, objects overlap |
---|
| 528 | if ( Collider.GetContactStatus() ) { |
---|
| 529 | // Number of colliding pairs and list of pairs |
---|
| 530 | int TriCount = Collider.GetNbPairs(); |
---|
| 531 | const Pair* CollidingPairs = Collider.GetPairs(); |
---|
| 532 | |
---|
| 533 | if (TriCount > 0) { |
---|
| 534 | // step through the pairs, adding contacts |
---|
| 535 | int id1, id2; |
---|
| 536 | int OutTriCount = 0; |
---|
| 537 | dVector3 v1[3], v2[3]; |
---|
| 538 | |
---|
| 539 | // only do these expensive inversions once |
---|
| 540 | /*dMatrix4 InvMatrix1, InvMatrix2; |
---|
| 541 | dInvertMatrix4(A, InvMatrix1); |
---|
| 542 | dInvertMatrix4(B, InvMatrix2);*/ |
---|
| 543 | |
---|
| 544 | |
---|
| 545 | for (int i = 0; i < TriCount; i++) |
---|
| 546 | { |
---|
| 547 | id1 = CollidingPairs[i].id0; |
---|
| 548 | id2 = CollidingPairs[i].id1; |
---|
| 549 | |
---|
| 550 | // grab the colliding triangles |
---|
| 551 | FetchTriangle((dxTriMesh*) g1, id1, TLPosition1, TLRotation1, v1); |
---|
| 552 | FetchTriangle((dxTriMesh*) g2, id2, TLPosition2, TLRotation2, v2); |
---|
| 553 | // Since we'll be doing matrix transformations, we need to |
---|
| 554 | // make sure that all vertices have four elements |
---|
| 555 | for (int j=0; j<3; j++) { |
---|
| 556 | v1[j][3] = 1.0; |
---|
| 557 | v2[j][3] = 1.0; |
---|
| 558 | } |
---|
| 559 | |
---|
| 560 | TriTriContacts(v1,v2, |
---|
| 561 | g1, g2, Flags, |
---|
| 562 | Contacts,Stride,OutTriCount); |
---|
| 563 | |
---|
| 564 | // Continue loop even after contacts are full |
---|
| 565 | // as existing contacts' normals/depths might be updated |
---|
| 566 | // Break only if contacts are not important |
---|
| 567 | if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) |
---|
| 568 | { |
---|
| 569 | break; |
---|
| 570 | } |
---|
| 571 | } |
---|
| 572 | |
---|
| 573 | // Return the number of contacts |
---|
| 574 | return OutTriCount; |
---|
| 575 | |
---|
| 576 | } |
---|
| 577 | } |
---|
| 578 | } |
---|
| 579 | |
---|
| 580 | |
---|
| 581 | // There was some kind of failure during the Collide call or |
---|
| 582 | // there are no faces overlapping |
---|
| 583 | return 0; |
---|
| 584 | } |
---|
| 585 | |
---|
| 586 | |
---|
| 587 | |
---|
| 588 | static void |
---|
| 589 | GetTriangleGeometryCallback(udword triangleindex, VertexPointers& triangle, udword user_data) |
---|
| 590 | { |
---|
| 591 | dVector3 Out[3]; |
---|
| 592 | |
---|
| 593 | FetchTriangle((dxTriMesh*) user_data, (int) triangleindex, Out); |
---|
| 594 | |
---|
| 595 | for (int i = 0; i < 3; i++) |
---|
| 596 | triangle.Vertex[i] = (const Point*) ((dReal*) Out[i]); |
---|
| 597 | } |
---|
| 598 | |
---|
| 599 | |
---|
| 600 | // |
---|
| 601 | // |
---|
| 602 | // |
---|
| 603 | #define B11 B[0] |
---|
| 604 | #define B12 B[1] |
---|
| 605 | #define B13 B[2] |
---|
| 606 | #define B14 B[3] |
---|
| 607 | #define B21 B[4] |
---|
| 608 | #define B22 B[5] |
---|
| 609 | #define B23 B[6] |
---|
| 610 | #define B24 B[7] |
---|
| 611 | #define B31 B[8] |
---|
| 612 | #define B32 B[9] |
---|
| 613 | #define B33 B[10] |
---|
| 614 | #define B34 B[11] |
---|
| 615 | #define B41 B[12] |
---|
| 616 | #define B42 B[13] |
---|
| 617 | #define B43 B[14] |
---|
| 618 | #define B44 B[15] |
---|
| 619 | |
---|
| 620 | #define Binv11 Binv[0] |
---|
| 621 | #define Binv12 Binv[1] |
---|
| 622 | #define Binv13 Binv[2] |
---|
| 623 | #define Binv14 Binv[3] |
---|
| 624 | #define Binv21 Binv[4] |
---|
| 625 | #define Binv22 Binv[5] |
---|
| 626 | #define Binv23 Binv[6] |
---|
| 627 | #define Binv24 Binv[7] |
---|
| 628 | #define Binv31 Binv[8] |
---|
| 629 | #define Binv32 Binv[9] |
---|
| 630 | #define Binv33 Binv[10] |
---|
| 631 | #define Binv34 Binv[11] |
---|
| 632 | #define Binv41 Binv[12] |
---|
| 633 | #define Binv42 Binv[13] |
---|
| 634 | #define Binv43 Binv[14] |
---|
| 635 | #define Binv44 Binv[15] |
---|
| 636 | |
---|
| 637 | inline void |
---|
| 638 | dMakeMatrix4(const dVector3 Position, const dMatrix3 Rotation, dMatrix4 &B) |
---|
| 639 | { |
---|
| 640 | B11 = Rotation[0]; B21 = Rotation[1]; B31 = Rotation[2]; B41 = Position[0]; |
---|
| 641 | B12 = Rotation[4]; B22 = Rotation[5]; B32 = Rotation[6]; B42 = Position[1]; |
---|
| 642 | B13 = Rotation[8]; B23 = Rotation[9]; B33 = Rotation[10]; B43 = Position[2]; |
---|
| 643 | |
---|
| 644 | B14 = 0.0; B24 = 0.0; B34 = 0.0; B44 = 1.0; |
---|
| 645 | } |
---|
| 646 | |
---|
| 647 | |
---|
| 648 | static void |
---|
| 649 | dInvertMatrix4( dMatrix4& B, dMatrix4& Binv ) |
---|
| 650 | { |
---|
| 651 | dReal det = (B11 * B22 - B12 * B21) * (B33 * B44 - B34 * B43) |
---|
| 652 | -(B11 * B23 - B13 * B21) * (B32 * B44 - B34 * B42) |
---|
| 653 | +(B11 * B24 - B14 * B21) * (B32 * B43 - B33 * B42) |
---|
| 654 | +(B12 * B23 - B13 * B22) * (B31 * B44 - B34 * B41) |
---|
| 655 | -(B12 * B24 - B14 * B22) * (B31 * B43 - B33 * B41) |
---|
| 656 | +(B13 * B24 - B14 * B23) * (B31 * B42 - B32 * B41); |
---|
| 657 | |
---|
| 658 | dAASSERT (det != 0.0); |
---|
| 659 | |
---|
| 660 | det = 1.0 / det; |
---|
| 661 | |
---|
| 662 | Binv11 = (dReal) (det * ((B22 * B33) - (B23 * B32))); |
---|
| 663 | Binv12 = (dReal) (det * ((B32 * B13) - (B33 * B12))); |
---|
| 664 | Binv13 = (dReal) (det * ((B12 * B23) - (B13 * B22))); |
---|
| 665 | Binv14 = 0.0f; |
---|
| 666 | Binv21 = (dReal) (det * ((B23 * B31) - (B21 * B33))); |
---|
| 667 | Binv22 = (dReal) (det * ((B33 * B11) - (B31 * B13))); |
---|
| 668 | Binv23 = (dReal) (det * ((B13 * B21) - (B11 * B23))); |
---|
| 669 | Binv24 = 0.0f; |
---|
| 670 | Binv31 = (dReal) (det * ((B21 * B32) - (B22 * B31))); |
---|
| 671 | Binv32 = (dReal) (det * ((B31 * B12) - (B32 * B11))); |
---|
| 672 | Binv33 = (dReal) (det * ((B11 * B22) - (B12 * B21))); |
---|
| 673 | Binv34 = 0.0f; |
---|
| 674 | Binv41 = (dReal) (det * (B21*(B33*B42 - B32*B43) + B22*(B31*B43 - B33*B41) + B23*(B32*B41 - B31*B42))); |
---|
| 675 | Binv42 = (dReal) (det * (B31*(B13*B42 - B12*B43) + B32*(B11*B43 - B13*B41) + B33*(B12*B41 - B11*B42))); |
---|
| 676 | Binv43 = (dReal) (det * (B41*(B13*B22 - B12*B23) + B42*(B11*B23 - B13*B21) + B43*(B12*B21 - B11*B22))); |
---|
| 677 | Binv44 = 1.0f; |
---|
| 678 | } |
---|
| 679 | |
---|
| 680 | |
---|
| 681 | |
---|
| 682 | // Find the intersectiojn point between a coplanar line segement, |
---|
| 683 | // defined by X1 and X2, and a ray defined by X3 and direction N. |
---|
| 684 | // |
---|
| 685 | // This forumla for this calculation is: |
---|
| 686 | // (c x b) . (a x b) |
---|
| 687 | // Q = x1 + a ------------------- |
---|
| 688 | // | a x b | ^2 |
---|
| 689 | // |
---|
| 690 | // where a = x2 - x1 |
---|
| 691 | // b = x4 - x3 |
---|
| 692 | // c = x3 - x1 |
---|
| 693 | // x1 and x2 are the edges of the triangle, and x3 is CoplanarPt |
---|
| 694 | // and x4 is (CoplanarPt - n) |
---|
| 695 | static int |
---|
| 696 | IntersectLineSegmentRay(dVector3 x1, dVector3 x2, dVector3 x3, dVector3 n, |
---|
| 697 | dVector3 out_pt) |
---|
| 698 | { |
---|
| 699 | dVector3 a, b, c, x4; |
---|
| 700 | |
---|
| 701 | ADD(x4, x3, n); // x4 = x3 + n |
---|
| 702 | |
---|
| 703 | SUB(a, x2, x1); // a = x2 - x1 |
---|
| 704 | SUB(b, x4, x3); |
---|
| 705 | SUB(c, x3, x1); |
---|
| 706 | |
---|
| 707 | dVector3 tmp1, tmp2; |
---|
| 708 | CROSS(tmp1, c, b); |
---|
| 709 | CROSS(tmp2, a, b); |
---|
| 710 | |
---|
| 711 | dReal num, denom; |
---|
| 712 | num = dDOT(tmp1, tmp2); |
---|
| 713 | denom = LENGTH( tmp2 ); |
---|
| 714 | |
---|
| 715 | dReal s; |
---|
| 716 | s = num /(denom*denom); |
---|
| 717 | |
---|
| 718 | for (int i=0; i<3; i++) |
---|
| 719 | out_pt[i] = x1[i] + a[i]*s; |
---|
| 720 | |
---|
| 721 | // Test if this intersection is "behind" x3, w.r.t. n |
---|
| 722 | SUB(a, x3, out_pt); |
---|
| 723 | if (dDOT(a, n) > 0.0) |
---|
| 724 | return 0; |
---|
| 725 | |
---|
| 726 | // Test if this intersection point is outside the edge limits, |
---|
| 727 | // if (dot( (out_pt-x1), (out_pt-x2) ) < 0) it's inside |
---|
| 728 | // else outside |
---|
| 729 | SUB(a, out_pt, x1); |
---|
| 730 | SUB(b, out_pt, x2); |
---|
| 731 | if (dDOT(a,b) < 0.0) |
---|
| 732 | return 1; |
---|
| 733 | else |
---|
| 734 | return 0; |
---|
| 735 | } |
---|
| 736 | |
---|
| 737 | |
---|
| 738 | |
---|
| 739 | void PlaneClipSegment( const dVector3 s1, const dVector3 s2, |
---|
| 740 | const dVector3 N, dReal C, dVector3 clipped) |
---|
| 741 | { |
---|
| 742 | dReal dis1,dis2; |
---|
| 743 | dis1 = DOT(s1,N)-C; |
---|
| 744 | SUB(clipped,s2,s1); |
---|
| 745 | dis2 = DOT(clipped,N); |
---|
| 746 | MULT(clipped,clipped,-dis1/dis2); |
---|
| 747 | ADD(clipped,clipped,s1); |
---|
| 748 | clipped[3] = 1.0f; |
---|
| 749 | } |
---|
| 750 | |
---|
| 751 | /* ClipConvexPolygonAgainstPlane - Clip a a convex polygon, described by |
---|
| 752 | CONTACTS, with a plane (described by N and C distance from origin). |
---|
| 753 | Note: the input vertices are assumed to be in invcounterclockwise order. |
---|
| 754 | changed by Francisco Leon (http://gimpact.sourceforge.net) */ |
---|
| 755 | static void |
---|
| 756 | ClipConvexPolygonAgainstPlane( const dVector3 N, dReal C, |
---|
| 757 | LineContactSet& Contacts ) |
---|
| 758 | { |
---|
| 759 | int i, vi, prevclassif=32000, classif; |
---|
| 760 | /* |
---|
| 761 | classif 0 : back, 1 : front |
---|
| 762 | */ |
---|
| 763 | |
---|
| 764 | dReal d; |
---|
| 765 | dVector3 clipped[8]; |
---|
| 766 | int clippedcount =0; |
---|
| 767 | |
---|
| 768 | if(Contacts.Count==0) |
---|
| 769 | { |
---|
| 770 | return; |
---|
| 771 | } |
---|
| 772 | for(i=0;i<=Contacts.Count;i++) |
---|
| 773 | { |
---|
| 774 | vi = i%Contacts.Count; |
---|
| 775 | |
---|
| 776 | d = DOT(N,Contacts.Points[vi]) - C; |
---|
| 777 | ////classify point |
---|
| 778 | if(d>REAL(1.0e-8)) classif = 1; |
---|
| 779 | else classif = 0; |
---|
| 780 | |
---|
| 781 | if(classif == 0)//back |
---|
| 782 | { |
---|
| 783 | if(i>0) |
---|
| 784 | { |
---|
| 785 | if(prevclassif==1)///in front |
---|
| 786 | { |
---|
| 787 | |
---|
| 788 | ///add clipped point |
---|
| 789 | if(clippedcount<8) |
---|
| 790 | { |
---|
| 791 | PlaneClipSegment(Contacts.Points[i-1],Contacts.Points[vi], |
---|
| 792 | N,C,clipped[clippedcount]); |
---|
| 793 | clippedcount++; |
---|
| 794 | } |
---|
| 795 | } |
---|
| 796 | } |
---|
| 797 | ///add point |
---|
| 798 | if(clippedcount<8&&i<Contacts.Count) |
---|
| 799 | { |
---|
| 800 | clipped[clippedcount][0] = Contacts.Points[vi][0]; |
---|
| 801 | clipped[clippedcount][1] = Contacts.Points[vi][1]; |
---|
| 802 | clipped[clippedcount][2] = Contacts.Points[vi][2]; |
---|
| 803 | clipped[clippedcount][3] = 1.0f; |
---|
| 804 | clippedcount++; |
---|
| 805 | } |
---|
| 806 | } |
---|
| 807 | else |
---|
| 808 | { |
---|
| 809 | |
---|
| 810 | if(i>0) |
---|
| 811 | { |
---|
| 812 | if(prevclassif==0) |
---|
| 813 | { |
---|
| 814 | ///add point |
---|
| 815 | if(clippedcount<8) |
---|
| 816 | { |
---|
| 817 | PlaneClipSegment(Contacts.Points[i-1],Contacts.Points[vi], |
---|
| 818 | N,C,clipped[clippedcount]); |
---|
| 819 | clippedcount++; |
---|
| 820 | } |
---|
| 821 | } |
---|
| 822 | } |
---|
| 823 | } |
---|
| 824 | |
---|
| 825 | prevclassif = classif; |
---|
| 826 | } |
---|
| 827 | |
---|
| 828 | if(clippedcount==0) |
---|
| 829 | { |
---|
| 830 | Contacts.Count = 0; |
---|
| 831 | return; |
---|
| 832 | } |
---|
| 833 | Contacts.Count = clippedcount; |
---|
| 834 | memcpy( Contacts.Points, clipped, clippedcount * sizeof(dVector3) ); |
---|
| 835 | return; |
---|
| 836 | } |
---|
| 837 | |
---|
| 838 | |
---|
| 839 | bool BuildPlane(const dVector3 s0, const dVector3 s1,const dVector3 s2, |
---|
| 840 | dVector3 Normal, dReal & Dist) |
---|
| 841 | { |
---|
| 842 | dVector3 e0,e1; |
---|
| 843 | SUB(e0,s1,s0); |
---|
| 844 | SUB(e1,s2,s0); |
---|
| 845 | |
---|
| 846 | CROSS(Normal,e0,e1); |
---|
| 847 | |
---|
| 848 | if (!dSafeNormalize3(Normal)) |
---|
| 849 | { |
---|
| 850 | return false; |
---|
| 851 | } |
---|
| 852 | |
---|
| 853 | Dist = DOT(Normal,s0); |
---|
| 854 | return true; |
---|
| 855 | |
---|
| 856 | } |
---|
| 857 | |
---|
| 858 | bool BuildEdgesDir(const dVector3 s0, const dVector3 s1, |
---|
| 859 | const dVector3 t0, const dVector3 t1, |
---|
| 860 | dVector3 crossdir) |
---|
| 861 | { |
---|
| 862 | dVector3 e0,e1; |
---|
| 863 | |
---|
| 864 | SUB(e0,s1,s0); |
---|
| 865 | SUB(e1,t1,t0); |
---|
| 866 | CROSS(crossdir,e0,e1); |
---|
| 867 | |
---|
| 868 | if (!dSafeNormalize3(crossdir)) |
---|
| 869 | { |
---|
| 870 | return false; |
---|
| 871 | } |
---|
| 872 | return true; |
---|
| 873 | } |
---|
| 874 | |
---|
| 875 | |
---|
| 876 | |
---|
| 877 | bool BuildEdgePlane( |
---|
| 878 | const dVector3 s0, const dVector3 s1, |
---|
| 879 | const dVector3 normal, |
---|
| 880 | dVector3 plane_normal, |
---|
| 881 | dReal & plane_dist) |
---|
| 882 | { |
---|
| 883 | dVector3 e0; |
---|
| 884 | |
---|
| 885 | SUB(e0,s1,s0); |
---|
| 886 | CROSS(plane_normal,e0,normal); |
---|
| 887 | if (!dSafeNormalize3(plane_normal)) |
---|
| 888 | { |
---|
| 889 | return false; |
---|
| 890 | } |
---|
| 891 | plane_dist = DOT(plane_normal,s0); |
---|
| 892 | return true; |
---|
| 893 | } |
---|
| 894 | |
---|
| 895 | |
---|
| 896 | |
---|
| 897 | |
---|
| 898 | /* |
---|
| 899 | Positive penetration |
---|
| 900 | Negative number: they are separated |
---|
| 901 | */ |
---|
| 902 | dReal IntervalPenetration(dReal &vmin1,dReal &vmax1, |
---|
| 903 | dReal &vmin2,dReal &vmax2) |
---|
| 904 | { |
---|
| 905 | if(vmax1<=vmin2) |
---|
| 906 | { |
---|
| 907 | return -(vmin2-vmax1); |
---|
| 908 | } |
---|
| 909 | else |
---|
| 910 | { |
---|
| 911 | if(vmax2<=vmin1) |
---|
| 912 | { |
---|
| 913 | return -(vmin1-vmax2); |
---|
| 914 | } |
---|
| 915 | else |
---|
| 916 | { |
---|
| 917 | if(vmax1<=vmax2) |
---|
| 918 | { |
---|
| 919 | return vmax1-vmin2; |
---|
| 920 | } |
---|
| 921 | |
---|
| 922 | return vmax2-vmin1; |
---|
| 923 | } |
---|
| 924 | |
---|
| 925 | } |
---|
| 926 | return 0; |
---|
| 927 | } |
---|
| 928 | |
---|
| 929 | void FindInterval( |
---|
| 930 | const dVector3 * vertices, int verticecount, |
---|
| 931 | dVector3 dir,dReal &vmin,dReal &vmax) |
---|
| 932 | { |
---|
| 933 | |
---|
| 934 | dReal dist; |
---|
| 935 | int i; |
---|
| 936 | vmin = DOT(vertices[0],dir); |
---|
| 937 | vmax = vmin; |
---|
| 938 | for(i=1;i<verticecount;i++) |
---|
| 939 | { |
---|
| 940 | dist = DOT(vertices[i],dir); |
---|
| 941 | if(vmin>dist) vmin=dist; |
---|
| 942 | else if(vmax<dist) vmax=dist; |
---|
| 943 | } |
---|
| 944 | } |
---|
| 945 | |
---|
| 946 | ///returns the penetration depth |
---|
| 947 | dReal MostDeepPoints( |
---|
| 948 | LineContactSet & points, |
---|
| 949 | const dVector3 plane_normal, |
---|
| 950 | dReal plane_dist, |
---|
| 951 | LineContactSet & deep_points) |
---|
| 952 | { |
---|
| 953 | int i; |
---|
| 954 | int max_candidates[8]; |
---|
| 955 | dReal maxdeep=-dInfinity; |
---|
| 956 | dReal dist; |
---|
| 957 | |
---|
| 958 | deep_points.Count = 0; |
---|
| 959 | for(i=0;i<points.Count;i++) |
---|
| 960 | { |
---|
| 961 | dist = DOT(plane_normal,points.Points[i]) - plane_dist; |
---|
| 962 | dist *= -1.0f; |
---|
| 963 | if(dist>maxdeep) |
---|
| 964 | { |
---|
| 965 | maxdeep = dist; |
---|
| 966 | deep_points.Count=1; |
---|
| 967 | max_candidates[deep_points.Count-1] = i; |
---|
| 968 | } |
---|
| 969 | else if(dist+REAL(0.000001)>=maxdeep) |
---|
| 970 | { |
---|
| 971 | deep_points.Count++; |
---|
| 972 | max_candidates[deep_points.Count-1] = i; |
---|
| 973 | } |
---|
| 974 | } |
---|
| 975 | |
---|
| 976 | for(i=0;i<deep_points.Count;i++) |
---|
| 977 | { |
---|
| 978 | SET(deep_points.Points[i],points.Points[max_candidates[i]]); |
---|
| 979 | } |
---|
| 980 | return maxdeep; |
---|
| 981 | |
---|
| 982 | } |
---|
| 983 | |
---|
| 984 | void ClipPointsByTri( |
---|
| 985 | const dVector3 * points, int pointcount, |
---|
| 986 | const dVector3 tri[3], |
---|
| 987 | const dVector3 triplanenormal, |
---|
| 988 | dReal triplanedist, |
---|
| 989 | LineContactSet & clipped_points, |
---|
| 990 | bool triplane_clips) |
---|
| 991 | { |
---|
| 992 | ///build edges planes |
---|
| 993 | int i; |
---|
| 994 | dVector4 plane; |
---|
| 995 | |
---|
| 996 | clipped_points.Count = pointcount; |
---|
| 997 | memcpy(&clipped_points.Points[0],&points[0],pointcount*sizeof(dVector3)); |
---|
| 998 | for(i=0;i<3;i++) |
---|
| 999 | { |
---|
| 1000 | if (BuildEdgePlane( |
---|
| 1001 | tri[i],tri[(i+1)%3],triplanenormal, |
---|
| 1002 | plane,plane[3])) |
---|
| 1003 | { |
---|
| 1004 | ClipConvexPolygonAgainstPlane( |
---|
| 1005 | plane, |
---|
| 1006 | plane[3], |
---|
| 1007 | clipped_points); |
---|
| 1008 | } |
---|
| 1009 | } |
---|
| 1010 | |
---|
| 1011 | if(triplane_clips) |
---|
| 1012 | { |
---|
| 1013 | ClipConvexPolygonAgainstPlane( |
---|
| 1014 | triplanenormal, |
---|
| 1015 | triplanedist, |
---|
| 1016 | clipped_points); |
---|
| 1017 | } |
---|
| 1018 | } |
---|
| 1019 | |
---|
| 1020 | |
---|
| 1021 | ///returns the penetration depth |
---|
| 1022 | dReal FindTriangleTriangleCollision( |
---|
| 1023 | const dVector3 tri1[3], |
---|
| 1024 | const dVector3 tri2[3], |
---|
| 1025 | dVector3 separating_normal, |
---|
| 1026 | LineContactSet & deep_points) |
---|
| 1027 | { |
---|
| 1028 | dReal maxdeep=dInfinity; |
---|
| 1029 | dReal dist; |
---|
| 1030 | int mostdir=0,mostface = 0, currdir=0; |
---|
| 1031 | // dReal vmin1,vmax1,vmin2,vmax2; |
---|
| 1032 | // dVector3 crossdir, pt1,pt2; |
---|
| 1033 | dVector4 tri1plane,tri2plane; |
---|
| 1034 | separating_normal[3] = 0.0f; |
---|
| 1035 | bool bl; |
---|
| 1036 | LineContactSet clipped_points1,clipped_points2; |
---|
| 1037 | LineContactSet deep_points1,deep_points2; |
---|
| 1038 | ////find interval face1 |
---|
| 1039 | |
---|
| 1040 | bl = BuildPlane(tri1[0],tri1[1],tri1[2], |
---|
| 1041 | tri1plane,tri1plane[3]); |
---|
| 1042 | clipped_points1.Count = 0; |
---|
| 1043 | |
---|
| 1044 | if(bl) |
---|
| 1045 | { |
---|
| 1046 | ClipPointsByTri( |
---|
| 1047 | tri2, 3, |
---|
| 1048 | tri1, |
---|
| 1049 | tri1plane, |
---|
| 1050 | tri1plane[3], |
---|
| 1051 | clipped_points1,false); |
---|
| 1052 | |
---|
| 1053 | |
---|
| 1054 | |
---|
| 1055 | maxdeep = MostDeepPoints( |
---|
| 1056 | clipped_points1, |
---|
| 1057 | tri1plane, |
---|
| 1058 | tri1plane[3], |
---|
| 1059 | deep_points1); |
---|
| 1060 | SET(separating_normal,tri1plane); |
---|
| 1061 | |
---|
| 1062 | } |
---|
| 1063 | currdir++; |
---|
| 1064 | |
---|
| 1065 | ////find interval face2 |
---|
| 1066 | |
---|
| 1067 | bl = BuildPlane(tri2[0],tri2[1],tri2[2], |
---|
| 1068 | tri2plane,tri2plane[3]); |
---|
| 1069 | |
---|
| 1070 | |
---|
| 1071 | clipped_points2.Count = 0; |
---|
| 1072 | if(bl) |
---|
| 1073 | { |
---|
| 1074 | ClipPointsByTri( |
---|
| 1075 | tri1, 3, |
---|
| 1076 | tri2, |
---|
| 1077 | tri2plane, |
---|
| 1078 | tri2plane[3], |
---|
| 1079 | clipped_points2,false); |
---|
| 1080 | |
---|
| 1081 | |
---|
| 1082 | |
---|
| 1083 | dist = MostDeepPoints( |
---|
| 1084 | clipped_points2, |
---|
| 1085 | tri2plane, |
---|
| 1086 | tri2plane[3], |
---|
| 1087 | deep_points2); |
---|
| 1088 | |
---|
| 1089 | |
---|
| 1090 | |
---|
| 1091 | if(dist<maxdeep) |
---|
| 1092 | { |
---|
| 1093 | maxdeep = dist; |
---|
| 1094 | mostdir = currdir; |
---|
| 1095 | mostface = 1; |
---|
| 1096 | SET(separating_normal,tri2plane); |
---|
| 1097 | } |
---|
| 1098 | } |
---|
| 1099 | currdir++; |
---|
| 1100 | |
---|
| 1101 | |
---|
| 1102 | ///find edge edge distances |
---|
| 1103 | ///test each edge plane |
---|
| 1104 | |
---|
| 1105 | /*for(i=0;i<3;i++) |
---|
| 1106 | { |
---|
| 1107 | |
---|
| 1108 | |
---|
| 1109 | for(j=0;j<3;j++) |
---|
| 1110 | { |
---|
| 1111 | |
---|
| 1112 | |
---|
| 1113 | bl = BuildEdgesDir( |
---|
| 1114 | tri1[i],tri1[(i+1)%3], |
---|
| 1115 | tri2[j],tri2[(j+1)%3], |
---|
| 1116 | crossdir); |
---|
| 1117 | |
---|
| 1118 | ////find plane distance |
---|
| 1119 | |
---|
| 1120 | if(bl) |
---|
| 1121 | { |
---|
| 1122 | FindInterval(tri1,3,crossdir,vmin1,vmax1); |
---|
| 1123 | FindInterval(tri2,3,crossdir,vmin2,vmax2); |
---|
| 1124 | |
---|
| 1125 | dist = IntervalPenetration( |
---|
| 1126 | vmin1, |
---|
| 1127 | vmax1, |
---|
| 1128 | vmin2, |
---|
| 1129 | vmax2); |
---|
| 1130 | if(dist<maxdeep) |
---|
| 1131 | { |
---|
| 1132 | maxdeep = dist; |
---|
| 1133 | mostdir = currdir; |
---|
| 1134 | SET(separating_normal,crossdir); |
---|
| 1135 | } |
---|
| 1136 | } |
---|
| 1137 | currdir++; |
---|
| 1138 | } |
---|
| 1139 | }*/ |
---|
| 1140 | |
---|
| 1141 | |
---|
| 1142 | ////check most dir for contacts |
---|
| 1143 | if(mostdir==0) |
---|
| 1144 | { |
---|
| 1145 | ///find most deep points |
---|
| 1146 | deep_points.Count = deep_points1.Count; |
---|
| 1147 | memcpy( |
---|
| 1148 | &deep_points.Points[0], |
---|
| 1149 | &deep_points1.Points[0], |
---|
| 1150 | deep_points1.Count*sizeof(dVector3)); |
---|
| 1151 | |
---|
| 1152 | ///invert normal for point to tri1 |
---|
| 1153 | MULT(separating_normal,separating_normal,-1.0f); |
---|
| 1154 | } |
---|
| 1155 | else if(mostdir==1) |
---|
| 1156 | { |
---|
| 1157 | deep_points.Count = deep_points2.Count; |
---|
| 1158 | memcpy( |
---|
| 1159 | &deep_points.Points[0], |
---|
| 1160 | &deep_points2.Points[0], |
---|
| 1161 | deep_points2.Count*sizeof(dVector3)); |
---|
| 1162 | |
---|
| 1163 | } |
---|
| 1164 | /*else |
---|
| 1165 | {///edge separation |
---|
| 1166 | mostdir -= 2; |
---|
| 1167 | |
---|
| 1168 | //edge 2 |
---|
| 1169 | j = mostdir%3; |
---|
| 1170 | //edge 1 |
---|
| 1171 | i = mostdir/3; |
---|
| 1172 | |
---|
| 1173 | ///find edge closest points |
---|
| 1174 | dClosestLineSegmentPoints( |
---|
| 1175 | tri1[i],tri1[(i+1)%3], |
---|
| 1176 | tri2[j],tri2[(j+1)%3], |
---|
| 1177 | pt1,pt2); |
---|
| 1178 | ///find correct direction |
---|
| 1179 | |
---|
| 1180 | SUB(crossdir,pt2,pt1); |
---|
| 1181 | |
---|
| 1182 | vmin1 = LENGTH(crossdir); |
---|
| 1183 | if(vmin1<REAL(0.000001)) |
---|
| 1184 | { |
---|
| 1185 | |
---|
| 1186 | if(mostface==0) |
---|
| 1187 | { |
---|
| 1188 | vmin1 = DOT(separating_normal,tri1plane); |
---|
| 1189 | if(vmin1>0.0) |
---|
| 1190 | { |
---|
| 1191 | MULT(separating_normal,separating_normal,-1.0f); |
---|
| 1192 | deep_points.Count = 1; |
---|
| 1193 | SET(deep_points.Points[0],pt2); |
---|
| 1194 | } |
---|
| 1195 | else |
---|
| 1196 | { |
---|
| 1197 | deep_points.Count = 1; |
---|
| 1198 | SET(deep_points.Points[0],pt2); |
---|
| 1199 | } |
---|
| 1200 | |
---|
| 1201 | } |
---|
| 1202 | else |
---|
| 1203 | { |
---|
| 1204 | vmin1 = DOT(separating_normal,tri2plane); |
---|
| 1205 | if(vmin1<0.0) |
---|
| 1206 | { |
---|
| 1207 | MULT(separating_normal,separating_normal,-1.0f); |
---|
| 1208 | deep_points.Count = 1; |
---|
| 1209 | SET(deep_points.Points[0],pt2); |
---|
| 1210 | } |
---|
| 1211 | else |
---|
| 1212 | { |
---|
| 1213 | deep_points.Count = 1; |
---|
| 1214 | SET(deep_points.Points[0],pt2); |
---|
| 1215 | } |
---|
| 1216 | |
---|
| 1217 | } |
---|
| 1218 | |
---|
| 1219 | |
---|
| 1220 | |
---|
| 1221 | |
---|
| 1222 | } |
---|
| 1223 | else |
---|
| 1224 | { |
---|
| 1225 | MULT(separating_normal,crossdir,1.0f/vmin1); |
---|
| 1226 | |
---|
| 1227 | vmin1 = DOT(separating_normal,tri1plane); |
---|
| 1228 | if(vmin1>0.0) |
---|
| 1229 | { |
---|
| 1230 | MULT(separating_normal,separating_normal,-1.0f); |
---|
| 1231 | deep_points.Count = 1; |
---|
| 1232 | SET(deep_points.Points[0],pt2); |
---|
| 1233 | } |
---|
| 1234 | else |
---|
| 1235 | { |
---|
| 1236 | deep_points.Count = 1; |
---|
| 1237 | SET(deep_points.Points[0],pt2); |
---|
| 1238 | } |
---|
| 1239 | |
---|
| 1240 | |
---|
| 1241 | } |
---|
| 1242 | |
---|
| 1243 | |
---|
| 1244 | }*/ |
---|
| 1245 | return maxdeep; |
---|
| 1246 | } |
---|
| 1247 | |
---|
| 1248 | |
---|
| 1249 | |
---|
| 1250 | ///SUPPORT UP TO 8 CONTACTS |
---|
| 1251 | bool TriTriContacts(const dVector3 tr1[3], |
---|
| 1252 | const dVector3 tr2[3], |
---|
| 1253 | dxGeom* g1, dxGeom* g2, int Flags, |
---|
| 1254 | dContactGeom* Contacts, int Stride, |
---|
| 1255 | int &contactcount) |
---|
| 1256 | { |
---|
| 1257 | |
---|
| 1258 | |
---|
| 1259 | dVector4 normal; |
---|
| 1260 | dReal depth; |
---|
| 1261 | ///Test Tri Vs Tri |
---|
| 1262 | // dContactGeom* pcontact; |
---|
| 1263 | int ccount = 0; |
---|
| 1264 | LineContactSet contactpoints; |
---|
| 1265 | contactpoints.Count = 0; |
---|
| 1266 | |
---|
| 1267 | |
---|
| 1268 | |
---|
| 1269 | ///find best direction |
---|
| 1270 | |
---|
| 1271 | depth = FindTriangleTriangleCollision( |
---|
| 1272 | tr1, |
---|
| 1273 | tr2, |
---|
| 1274 | normal, |
---|
| 1275 | contactpoints); |
---|
| 1276 | |
---|
| 1277 | |
---|
| 1278 | |
---|
| 1279 | if(depth<0.0f) return false; |
---|
| 1280 | |
---|
| 1281 | ccount = 0; |
---|
| 1282 | while (ccount<contactpoints.Count) |
---|
| 1283 | { |
---|
| 1284 | PushNewContact( g1, g2, |
---|
| 1285 | contactpoints.Points[ccount], |
---|
| 1286 | normal, depth, Flags, |
---|
| 1287 | Contacts,Stride,contactcount); |
---|
| 1288 | |
---|
| 1289 | // Continue loop even after contacts are full |
---|
| 1290 | // as existing contacts' normals/depths might be updated |
---|
| 1291 | // Break only if contacts are not important |
---|
| 1292 | if ((contactcount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) |
---|
| 1293 | { |
---|
| 1294 | break; |
---|
| 1295 | } |
---|
| 1296 | |
---|
| 1297 | ccount++; |
---|
| 1298 | } |
---|
| 1299 | return true; |
---|
| 1300 | } |
---|
| 1301 | |
---|
| 1302 | #endif // dTRIMESH_OPCODE |
---|
| 1303 | #endif // dTRIMESH_USE_NEW_TRIMESH_TRIMESH_COLLIDER |
---|
| 1304 | #endif // dTRIMESH_ENABLED |
---|