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source: code/branches/ode/ode-0.9/OPCODE/OPC_RayCollider.cpp @ 216

Last change on this file since 216 was 216, checked in by mathiask, 16 years ago
[Physik] add ode-0.9
File size: 28.5 KB

Line
1	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2	/*
3	* OPCODE - Optimized Collision Detection
4	* Copyright (C) 2001 Pierre Terdiman
5	* Homepage: http://www.codercorner.com/Opcode.htm
6	*/
7	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
8
9	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
10	/**
11	* Contains code for a ray collider.
12	* \file OPC_RayCollider.cpp
13	* \author Pierre Terdiman
14	* \date June, 2, 2001
15	*/
16	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
17
18	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
19	/**
20	* Contains a ray-vs-tree collider.
21	* This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision.
22	*
23	* HIGHER DISTANCE BOUND:
24	*
25	* If P0 and P1 are two 3D points, let's define:
26	* - d = distance between P0 and P1
27	* - Origin = P0
28	* - Direction = (P1 - P0) / d = normalized direction vector
29	* - A parameter t such as a point P on the line (P0,P1) is P = Origin + t * Direction
30	* - t = 0 --> P = P0
31	* - t = d --> P = P1
32	*
33	* Then we can define a general "ray" as:
34	*
35	* struct Ray
36	* {
37	* Point Origin;
38	* Point Direction;
39	* };
40	*
41	* But it actually maps three different things:
42	* - a segment, when 0 <= t <= d
43	* - a half-line, when 0 <= t < +infinity, or -infinity < t <= d
44	* - a line, when -infinity < t < +infinity
45	*
46	* In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity.
47	* We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin.
48	*
49	* In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist().
50	*
51	* Query \|segment \|half-line \|line
52	* --------\|-------------------\|---------------\|----------------
53	* Usages \|-shadow feelers \|-raytracing \|-
54	* \|-sweep tests \|-in/out tests \|
55	*
56	* FIRST CONTACT:
57	*
58	* - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact().
59	* - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where
60	* you want to know whether the path to the light is free or not (a boolean answer is enough).
61	* - In "all contacts" mode we return all faces hit by the ray.
62	*
63	* TEMPORAL COHERENCE:
64	*
65	* - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence().
66	* - It currently only works in "first contact" mode.
67	* - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries
68	* start by colliding the ray against the cached triangle. If they still collide, we return immediately.
69	*
70	* CLOSEST HIT:
71	*
72	* - You can enable or disable "closest hit" with RayCollider::SetClosestHit().
73	* - It currently only works in "all contacts" mode.
74	* - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported.
75	*
76	* BACKFACE CULLING:
77	*
78	* - You can enable or disable backface culling with RayCollider::SetCulling().
79	* - If culling is enabled, ray will not hit back faces (only front faces).
80	*
81	*
82	*
83	* \class RayCollider
84	* \author Pierre Terdiman
85	* \version 1.3
86	* \date June, 2, 2001
87	*/
88	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
89
90	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
91	/**
92	* This class describes a face hit by a ray or segment.
93	* This is a particular class dedicated to stabbing queries.
94	*
95	* \class CollisionFace
96	* \author Pierre Terdiman
97	* \version 1.3
98	* \date March, 20, 2001
99	*/
100	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
101
102	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
103	/**
104	* This class is a dedicated collection of CollisionFace.
105	*
106	* \class CollisionFaces
107	* \author Pierre Terdiman
108	* \version 1.3
109	* \date March, 20, 2001
110	*/
111	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
112
113	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
114	// Precompiled Header
115	#include "Stdafx.h"
116
117	using namespace Opcode;
118
119	#include "OPC_RayAABBOverlap.h"
120	#include "OPC_RayTriOverlap.h"
121
122	#define SET_CONTACT(prim_index, flag) \
123	mNbIntersections++; \
124	/* Set contact status */ \
125	mFlags \|= flag; \
126	/* In any case the contact has been found and recorded in mStabbedFace */ \
127	mStabbedFace.mFaceID = prim_index;
128
129	#ifdef OPC_RAYHIT_CALLBACK
130
131	#define HANDLE_CONTACT(prim_index, flag) \
132	SET_CONTACT(prim_index, flag) \
133	\
134	if(mHitCallback) (mHitCallback)(mStabbedFace, mUserData);
135
136	#define UPDATE_CACHE \
137	if(cache && GetContactStatus()) \
138	{ \
139	*cache = mStabbedFace.mFaceID; \
140	}
141	#else
142
143	#define HANDLE_CONTACT(prim_index, flag) \
144	SET_CONTACT(prim_index, flag) \
145	\
146	/* Now we can also record it in mStabbedFaces if available */ \
147	if(mStabbedFaces) \
148	{ \
149	/* If we want all faces or if that's the first one we hit */ \
150	if(!mClosestHit \|\| !mStabbedFaces->GetNbFaces()) \
151	{ \
152	mStabbedFaces->AddFace(mStabbedFace); \
153	} \
154	else \
155	{ \
156	/* We only keep closest hit */ \
157	CollisionFace* Current = const_cast<CollisionFace*>(mStabbedFaces->GetFaces()); \
158	if(Current && mStabbedFace.mDistance<Current->mDistance) \
159	{ \
160	*Current = mStabbedFace; \
161	} \
162	} \
163	}
164
165	#define UPDATE_CACHE \
166	if(cache && GetContactStatus() && mStabbedFaces) \
167	{ \
168	const CollisionFace* Current = mStabbedFaces->GetFaces(); \
169	if(Current) *cache = Current->mFaceID; \
170	else *cache = INVALID_ID; \
171	}
172	#endif
173
174	#define SEGMENT_PRIM(prim_index, flag) \
175	/* Request vertices from the app */ \
176	VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \
177	\
178	/* Perform ray-tri overlap test and return */ \
179	if(RayTriOverlap(VP.Vertex[0], VP.Vertex[1], *VP.Vertex[2])) \
180	{ \
181	/* Intersection point is valid if dist < segment's length */ \
182	/* We know dist>0 so we can use integers */ \
183	if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) \
184	{ \
185	HANDLE_CONTACT(prim_index, flag) \
186	} \
187	}
188
189	#define RAY_PRIM(prim_index, flag) \
190	/* Request vertices from the app */ \
191	VertexPointers VP; mIMesh->GetTriangle(VP, prim_index); \
192	\
193	/* Perform ray-tri overlap test and return */ \
194	if(RayTriOverlap(VP.Vertex[0], VP.Vertex[1], *VP.Vertex[2])) \
195	{ \
196	HANDLE_CONTACT(prim_index, flag) \
197	}
198
199
200	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
201	/**
202	* Constructor.
203	*/
204	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
205	RayCollider::RayCollider() :
206	mNbRayBVTests (0),
207	mNbRayPrimTests (0),
208	mNbIntersections (0),
209	mCulling (true),
210	#ifdef OPC_RAYHIT_CALLBACK
211	mHitCallback (null),
212	mUserData (0),
213	#else
214	mClosestHit (false),
215	mStabbedFaces (null),
216	#endif
217	mMaxDist (MAX_FLOAT)
218	{
219	}
220
221	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
222	/**
223	* Destructor.
224	*/
225	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
226	RayCollider::~RayCollider()
227	{
228	}
229
230	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
231	/**
232	* Validates current settings. You should call this method after all the settings and callbacks have been defined.
233	* \return null if everything is ok, else a string describing the problem
234	*/
235	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
236	const char* RayCollider::ValidateSettings()
237	{
238	if(mMaxDist<0.0f) return "Higher distance bound must be positive!";
239	if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!";
240	#ifndef OPC_RAYHIT_CALLBACK
241	if(mClosestHit && FirstContactEnabled()) return "Closest hit doesn't work with ""First contact"" mode!";
242	if(TemporalCoherenceEnabled() && mClosestHit) return "Temporal coherence can't guarantee to report closest hit!";
243	#endif
244	if(SkipPrimitiveTests()) return "SkipPrimitiveTests not possible for RayCollider ! (not implemented)";
245	return null;
246	}
247
248	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
249	/**
250	* Generic stabbing query for generic OPCODE models. After the call, access the results:
251	* - with GetContactStatus()
252	* - in the user-provided destination array
253	*
254	* \param world_ray [in] stabbing ray in world space
255	* \param model [in] Opcode model to collide with
256	* \param world [in] model's world matrix, or null
257	* \param cache [in] a possibly cached face index, or null
258	* \return true if success
259	* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
260	*/
261	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
262	bool RayCollider::Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world, udword* cache)
263	{
264	// Checkings
265	if(!Setup(&model)) return false;
266
267	// Init collision query
268	if(InitQuery(world_ray, world, cache)) return true;
269
270	if(!model.HasLeafNodes())
271	{
272	if(model.IsQuantized())
273	{
274	const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
275
276	// Setup dequantization coeffs
277	mCenterCoeff = Tree->mCenterCoeff;
278	mExtentsCoeff = Tree->mExtentsCoeff;
279
280	// Perform stabbing query
281	if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
282	else _RayStab(Tree->GetNodes());
283	}
284	else
285	{
286	const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
287
288	// Perform stabbing query
289	if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
290	else _RayStab(Tree->GetNodes());
291	}
292	}
293	else
294	{
295	if(model.IsQuantized())
296	{
297	const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
298
299	// Setup dequantization coeffs
300	mCenterCoeff = Tree->mCenterCoeff;
301	mExtentsCoeff = Tree->mExtentsCoeff;
302
303	// Perform stabbing query
304	if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
305	else _RayStab(Tree->GetNodes());
306	}
307	else
308	{
309	const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
310
311	// Perform stabbing query
312	if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes());
313	else _RayStab(Tree->GetNodes());
314	}
315	}
316
317	// Update cache if needed
318	UPDATE_CACHE
319	return true;
320	}
321
322
323	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
324	/**
325	* Initializes a stabbing query :
326	* - reset stats & contact status
327	* - compute ray in local space
328	* - check temporal coherence
329	*
330	* \param world_ray [in] stabbing ray in world space
331	* \param world [in] object's world matrix, or null
332	* \param face_id [in] index of previously stabbed triangle
333	* \return TRUE if we can return immediately
334	* \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only.
335	*/
336	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
337	BOOL RayCollider::InitQuery(const Ray& world_ray, const Matrix4x4* world, udword* face_id)
338	{
339	// Reset stats & contact status
340	Collider::InitQuery();
341	mNbRayBVTests = 0;
342	mNbRayPrimTests = 0;
343	mNbIntersections = 0;
344	#ifndef OPC_RAYHIT_CALLBACK
345	if(mStabbedFaces) mStabbedFaces->Reset();
346	#endif
347
348	// Compute ray in local space
349	// The (Origin/Dir) form is needed for the ray-triangle test anyway (even for segment tests)
350	if(world)
351	{
352	Matrix3x3 InvWorld = *world;
353	mDir = InvWorld * world_ray.mDir;
354
355	Matrix4x4 World;
356	InvertPRMatrix(World, *world);
357	mOrigin = world_ray.mOrig * World;
358	}
359	else
360	{
361	mDir = world_ray.mDir;
362	mOrigin = world_ray.mOrig;
363	}
364
365	// 4) Special case: 1-triangle meshes [Opcode 1.3]
366	if(mCurrentModel && mCurrentModel->HasSingleNode())
367	{
368	// We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
369	if(!SkipPrimitiveTests())
370	{
371	// Perform overlap test between the unique triangle and the ray (and set contact status if needed)
372	SEGMENT_PRIM(udword(0), OPC_CONTACT)
373
374	// Return immediately regardless of status
375	return TRUE;
376	}
377	}
378
379	// Check temporal coherence :
380
381	// Test previously colliding primitives first
382	if(TemporalCoherenceEnabled() && FirstContactEnabled() && face_id && *face_id!=INVALID_ID)
383	{
384	#ifdef OLD_CODE
385	#ifndef OPC_RAYHIT_CALLBACK
386	if(!mClosestHit)
387	#endif
388	{
389	// Request vertices from the app
390	VertexPointers VP;
391	mIMesh->GetTriangle(VP, *face_id);
392	// Perform ray-cached tri overlap test
393	if(RayTriOverlap(VP.Vertex[0], VP.Vertex[1], *VP.Vertex[2]))
394	{
395	// Intersection point is valid if:
396	// - distance is positive (else it can just be a face behind the orig point)
397	// - distance is smaller than a given max distance (useful for shadow feelers)
398	// if(mStabbedFace.mDistance>0.0f && mStabbedFace.mDistance<mMaxDist)
399	if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) // The other test is already performed in RayTriOverlap
400	{
401	// Set contact status
402	mFlags \|= OPC_TEMPORAL_CONTACT;
403
404	mStabbedFace.mFaceID = *face_id;
405
406	#ifndef OPC_RAYHIT_CALLBACK
407	if(mStabbedFaces) mStabbedFaces->AddFace(mStabbedFace);
408	#endif
409	return TRUE;
410	}
411	}
412	}
413	#else
414	// New code
415	// We handle both Segment/ray queries with the same segment code, and a possible infinite limit
416	SEGMENT_PRIM(*face_id, OPC_TEMPORAL_CONTACT)
417
418	// Return immediately if possible
419	if(GetContactStatus()) return TRUE;
420	#endif
421	}
422
423	// Precompute data (moved after temporal coherence since only needed for ray-AABB)
424	if(IR(mMaxDist)!=IEEE_MAX_FLOAT)
425	{
426	// For Segment-AABB overlap
427	mData = 0.5f * mDir * mMaxDist;
428	mData2 = mOrigin + mData;
429
430	// Precompute mFDir;
431	mFDir.x = fabsf(mData.x);
432	mFDir.y = fabsf(mData.y);
433	mFDir.z = fabsf(mData.z);
434	}
435	else
436	{
437	// For Ray-AABB overlap
438	// udword x = SIR(mDir.x)-1;
439	// udword y = SIR(mDir.y)-1;
440	// udword z = SIR(mDir.z)-1;
441	// mData.x = FR(x);
442	// mData.y = FR(y);
443	// mData.z = FR(z);
444
445	// Precompute mFDir;
446	mFDir.x = fabsf(mDir.x);
447	mFDir.y = fabsf(mDir.y);
448	mFDir.z = fabsf(mDir.z);
449	}
450
451	return FALSE;
452	}
453
454	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
455	/**
456	* Stabbing query for vanilla AABB trees.
457	* \param world_ray [in] stabbing ray in world space
458	* \param tree [in] AABB tree
459	* \param box_indices [out] indices of stabbed boxes
460	* \return true if success
461	*/
462	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
463	bool RayCollider::Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices)
464	{
465	// ### bad design here
466
467	// This is typically called for a scene tree, full of -AABBs-, not full of triangles.
468	// So we don't really have "primitives" to deal with. Hence it doesn't work with
469	// "FirstContact" + "TemporalCoherence".
470	ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) );
471
472	// Checkings
473	if(!tree) return false;
474
475	// Init collision query
476	// Basically this is only called to initialize precomputed data
477	if(InitQuery(world_ray)) return true;
478
479	// Perform stabbing query
480	if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(tree, box_indices);
481	else _RayStab(tree, box_indices);
482
483	return true;
484	}
485
486
487	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
488	/**
489	* Recursive stabbing query for normal AABB trees.
490	* \param node [in] current collision node
491	*/
492	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
493	void RayCollider::_SegmentStab(const AABBCollisionNode* node)
494	{
495	// Perform Segment-AABB overlap test
496	if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
497
498	if(node->IsLeaf())
499	{
500	SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT)
501	}
502	else
503	{
504	_SegmentStab(node->GetPos());
505
506	if(ContactFound()) return;
507
508	_SegmentStab(node->GetNeg());
509	}
510	}
511
512	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
513	/**
514	* Recursive stabbing query for quantized AABB trees.
515	* \param node [in] current collision node
516	*/
517	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
518	void RayCollider::_SegmentStab(const AABBQuantizedNode* node)
519	{
520	// Dequantize box
521	const QuantizedAABB& Box = node->mAABB;
522	const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
523	const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
524
525	// Perform Segment-AABB overlap test
526	if(!SegmentAABBOverlap(Center, Extents)) return;
527
528	if(node->IsLeaf())
529	{
530	SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT)
531	}
532	else
533	{
534	_SegmentStab(node->GetPos());
535
536	if(ContactFound()) return;
537
538	_SegmentStab(node->GetNeg());
539	}
540	}
541
542	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
543	/**
544	* Recursive stabbing query for no-leaf AABB trees.
545	* \param node [in] current collision node
546	*/
547	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
548	void RayCollider::_SegmentStab(const AABBNoLeafNode* node)
549	{
550	// Perform Segment-AABB overlap test
551	if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
552
553	if(node->HasPosLeaf())
554	{
555	SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
556	}
557	else _SegmentStab(node->GetPos());
558
559	if(ContactFound()) return;
560
561	if(node->HasNegLeaf())
562	{
563	SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
564	}
565	else _SegmentStab(node->GetNeg());
566	}
567
568	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
569	/**
570	* Recursive stabbing query for quantized no-leaf AABB trees.
571	* \param node [in] current collision node
572	*/
573	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
574	void RayCollider::_SegmentStab(const AABBQuantizedNoLeafNode* node)
575	{
576	// Dequantize box
577	const QuantizedAABB& Box = node->mAABB;
578	const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
579	const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
580
581	// Perform Segment-AABB overlap test
582	if(!SegmentAABBOverlap(Center, Extents)) return;
583
584	if(node->HasPosLeaf())
585	{
586	SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
587	}
588	else _SegmentStab(node->GetPos());
589
590	if(ContactFound()) return;
591
592	if(node->HasNegLeaf())
593	{
594	SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
595	}
596	else _SegmentStab(node->GetNeg());
597	}
598
599	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
600	/**
601	* Recursive stabbing query for vanilla AABB trees.
602	* \param node [in] current collision node
603	* \param box_indices [out] indices of stabbed boxes
604	*/
605	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
606	void RayCollider::_SegmentStab(const AABBTreeNode* node, Container& box_indices)
607	{
608	// Test the box against the segment
609	Point Center, Extents;
610	node->GetAABB()->GetCenter(Center);
611	node->GetAABB()->GetExtents(Extents);
612	if(!SegmentAABBOverlap(Center, Extents)) return;
613
614	if(node->IsLeaf())
615	{
616	box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives());
617	}
618	else
619	{
620	_SegmentStab(node->GetPos(), box_indices);
621	_SegmentStab(node->GetNeg(), box_indices);
622	}
623	}
624
625	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
626	/**
627	* Recursive stabbing query for normal AABB trees.
628	* \param node [in] current collision node
629	*/
630	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
631	void RayCollider::_RayStab(const AABBCollisionNode* node)
632	{
633	// Perform Ray-AABB overlap test
634	if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
635
636	if(node->IsLeaf())
637	{
638	RAY_PRIM(node->GetPrimitive(), OPC_CONTACT)
639	}
640	else
641	{
642	_RayStab(node->GetPos());
643
644	if(ContactFound()) return;
645
646	_RayStab(node->GetNeg());
647	}
648	}
649
650	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
651	/**
652	* Recursive stabbing query for quantized AABB trees.
653	* \param node [in] current collision node
654	*/
655	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
656	void RayCollider::_RayStab(const AABBQuantizedNode* node)
657	{
658	// Dequantize box
659	const QuantizedAABB& Box = node->mAABB;
660	const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
661	const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
662
663	// Perform Ray-AABB overlap test
664	if(!RayAABBOverlap(Center, Extents)) return;
665
666	if(node->IsLeaf())
667	{
668	RAY_PRIM(node->GetPrimitive(), OPC_CONTACT)
669	}
670	else
671	{
672	_RayStab(node->GetPos());
673
674	if(ContactFound()) return;
675
676	_RayStab(node->GetNeg());
677	}
678	}
679
680	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
681	/**
682	* Recursive stabbing query for no-leaf AABB trees.
683	* \param node [in] current collision node
684	*/
685	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
686	void RayCollider::_RayStab(const AABBNoLeafNode* node)
687	{
688	// Perform Ray-AABB overlap test
689	if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return;
690
691	if(node->HasPosLeaf())
692	{
693	RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
694	}
695	else _RayStab(node->GetPos());
696
697	if(ContactFound()) return;
698
699	if(node->HasNegLeaf())
700	{
701	RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
702	}
703	else _RayStab(node->GetNeg());
704	}
705
706	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
707	/**
708	* Recursive stabbing query for quantized no-leaf AABB trees.
709	* \param node [in] current collision node
710	*/
711	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
712	void RayCollider::_RayStab(const AABBQuantizedNoLeafNode* node)
713	{
714	// Dequantize box
715	const QuantizedAABB& Box = node->mAABB;
716	const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
717	const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
718
719	// Perform Ray-AABB overlap test
720	if(!RayAABBOverlap(Center, Extents)) return;
721
722	if(node->HasPosLeaf())
723	{
724	RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT)
725	}
726	else _RayStab(node->GetPos());
727
728	if(ContactFound()) return;
729
730	if(node->HasNegLeaf())
731	{
732	RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT)
733	}
734	else _RayStab(node->GetNeg());
735	}
736
737	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
738	/**
739	* Recursive stabbing query for vanilla AABB trees.
740	* \param node [in] current collision node
741	* \param box_indices [out] indices of stabbed boxes
742	*/
743	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
744	void RayCollider::_RayStab(const AABBTreeNode* node, Container& box_indices)
745	{
746	// Test the box against the ray
747	Point Center, Extents;
748	node->GetAABB()->GetCenter(Center);
749	node->GetAABB()->GetExtents(Extents);
750	if(!RayAABBOverlap(Center, Extents)) return;
751
752	if(node->IsLeaf())
753	{
754	mFlags \|= OPC_CONTACT;
755	box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives());
756	}
757	else
758	{
759	_RayStab(node->GetPos(), box_indices);
760	_RayStab(node->GetNeg(), box_indices);
761	}
762	}

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