1 | //Benoit CHAPEROT 2003-2004 www.jstarlab.com |
---|
2 | //some code inspired by Magic Software |
---|
3 | #include <ode/common.h> |
---|
4 | #include <ode/collision.h> |
---|
5 | #include <ode/matrix.h> |
---|
6 | #include <ode/rotation.h> |
---|
7 | #include <ode/odemath.h> |
---|
8 | #include "collision_kernel.h" |
---|
9 | #include "collision_std.h" |
---|
10 | #include "collision_std_internal.h" |
---|
11 | #include "collision_util.h" |
---|
12 | #include <drawstuff/drawstuff.h> |
---|
13 | #include "windows.h" |
---|
14 | #include "ode\ode.h" |
---|
15 | |
---|
16 | #define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) |
---|
17 | const dReal fEPSILON = 1e-9f; |
---|
18 | |
---|
19 | dxCone::dxCone (dSpaceID space, dReal _radius,dReal _length) : |
---|
20 | dxGeom (space,1) |
---|
21 | { |
---|
22 | dAASSERT(_radius > 0.f); |
---|
23 | dAASSERT(_length > 0.f); |
---|
24 | type = dConeClass; |
---|
25 | radius = _radius; |
---|
26 | lz = _length; |
---|
27 | } |
---|
28 | |
---|
29 | dxCone::~dxCone() |
---|
30 | { |
---|
31 | } |
---|
32 | |
---|
33 | void dxCone::computeAABB() |
---|
34 | { |
---|
35 | const dMatrix3& R = final_posr->R; |
---|
36 | const dVector3& pos = final_posr->pos; |
---|
37 | |
---|
38 | dReal xrange = dFabs(R[2] * lz) + radius; |
---|
39 | dReal yrange = dFabs(R[6] * lz) + radius; |
---|
40 | dReal zrange = dFabs(R[10] * lz) + radius; |
---|
41 | aabb[0] = pos[0] - xrange; |
---|
42 | aabb[1] = pos[0] + xrange; |
---|
43 | aabb[2] = pos[1] - yrange; |
---|
44 | aabb[3] = pos[1] + yrange; |
---|
45 | aabb[4] = pos[2] - zrange; |
---|
46 | aabb[5] = pos[2] + zrange; |
---|
47 | } |
---|
48 | |
---|
49 | dGeomID dCreateCone(dSpaceID space, dReal _radius,dReal _length) |
---|
50 | { |
---|
51 | return new dxCone(space,_radius,_length); |
---|
52 | } |
---|
53 | |
---|
54 | void dGeomConeSetParams (dGeomID g, dReal _radius, dReal _length) |
---|
55 | { |
---|
56 | dUASSERT (g && g->type == dConeClass,"argument not a cone"); |
---|
57 | dAASSERT (_radius > 0.f); |
---|
58 | dAASSERT (_length > 0.f); |
---|
59 | g->recomputePosr(); |
---|
60 | dxCone *c = (dxCone*) g; |
---|
61 | c->radius = _radius; |
---|
62 | c->lz = _length; |
---|
63 | dGeomMoved (g); |
---|
64 | } |
---|
65 | |
---|
66 | |
---|
67 | void dGeomConeGetParams (dGeomID g, dReal *_radius, dReal *_length) |
---|
68 | { |
---|
69 | dUASSERT (g && g->type == dConeClass,"argument not a cone"); |
---|
70 | g->recomputePosr(); |
---|
71 | dxCone *c = (dxCone*) g; |
---|
72 | *_radius = c->radius; |
---|
73 | *_length = c->lz; |
---|
74 | } |
---|
75 | |
---|
76 | //positive inside |
---|
77 | dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z) |
---|
78 | { |
---|
79 | dUASSERT (g && g->type == dConeClass,"argument not a cone"); |
---|
80 | |
---|
81 | g->recomputePosr(); |
---|
82 | dxCone *cone = (dxCone*) g; |
---|
83 | |
---|
84 | dVector3 tmp,q; |
---|
85 | tmp[0] = x - cone->final_posr->pos[0]; |
---|
86 | tmp[1] = y - cone->final_posr->pos[1]; |
---|
87 | tmp[2] = z - cone->final_posr->pos[2]; |
---|
88 | dMULTIPLY1_331 (q,cone->final_posr->R,tmp); |
---|
89 | |
---|
90 | dReal r = cone->radius; |
---|
91 | dReal h = cone->lz; |
---|
92 | |
---|
93 | dReal d0 = (r - r*q[2]/h) - dSqrt(q[0]*q[0]+q[1]*q[1]); |
---|
94 | dReal d1 = q[2]; |
---|
95 | dReal d2 = h-q[2]; |
---|
96 | |
---|
97 | if (d0 < d1) { |
---|
98 | if (d0 < d2) return d0; else return d2; |
---|
99 | } |
---|
100 | else { |
---|
101 | if (d1 < d2) return d1; else return d2; |
---|
102 | } |
---|
103 | } |
---|
104 | |
---|
105 | //plane plane |
---|
106 | bool FindIntersectionPlanePlane(const dReal Plane0[4], const dReal Plane1[4], |
---|
107 | dVector3 LinePos,dVector3 LineDir) |
---|
108 | { |
---|
109 | // If Cross(N0,N1) is zero, then either planes are parallel and separated |
---|
110 | // or the same plane. In both cases, 'false' is returned. Otherwise, |
---|
111 | // the intersection line is |
---|
112 | // |
---|
113 | // L(t) = t*Cross(N0,N1) + c0*N0 + c1*N1 |
---|
114 | // |
---|
115 | // for some coefficients c0 and c1 and for t any real number (the line |
---|
116 | // parameter). Taking dot products with the normals, |
---|
117 | // |
---|
118 | // d0 = Dot(N0,L) = c0*Dot(N0,N0) + c1*Dot(N0,N1) |
---|
119 | // d1 = Dot(N1,L) = c0*Dot(N0,N1) + c1*Dot(N1,N1) |
---|
120 | // |
---|
121 | // which are two equations in two unknowns. The solution is |
---|
122 | // |
---|
123 | // c0 = (Dot(N1,N1)*d0 - Dot(N0,N1)*d1)/det |
---|
124 | // c1 = (Dot(N0,N0)*d1 - Dot(N0,N1)*d0)/det |
---|
125 | // |
---|
126 | // where det = Dot(N0,N0)*Dot(N1,N1)-Dot(N0,N1)^2. |
---|
127 | /* |
---|
128 | Real fN00 = rkPlane0.Normal().SquaredLength(); |
---|
129 | Real fN01 = rkPlane0.Normal().Dot(rkPlane1.Normal()); |
---|
130 | Real fN11 = rkPlane1.Normal().SquaredLength(); |
---|
131 | Real fDet = fN00*fN11 - fN01*fN01; |
---|
132 | |
---|
133 | if ( Math::FAbs(fDet) < gs_fEpsilon ) |
---|
134 | return false; |
---|
135 | |
---|
136 | Real fInvDet = 1.0f/fDet; |
---|
137 | Real fC0 = (fN11*rkPlane0.Constant() - fN01*rkPlane1.Constant())*fInvDet; |
---|
138 | Real fC1 = (fN00*rkPlane1.Constant() - fN01*rkPlane0.Constant())*fInvDet; |
---|
139 | |
---|
140 | rkLine.Direction() = rkPlane0.Normal().Cross(rkPlane1.Normal()); |
---|
141 | rkLine.Origin() = fC0*rkPlane0.Normal() + fC1*rkPlane1.Normal(); |
---|
142 | return true; |
---|
143 | */ |
---|
144 | dReal fN00 = dLENGTHSQUARED(Plane0); |
---|
145 | dReal fN01 = dDOT(Plane0,Plane1); |
---|
146 | dReal fN11 = dLENGTHSQUARED(Plane1); |
---|
147 | dReal fDet = fN00*fN11 - fN01*fN01; |
---|
148 | |
---|
149 | if ( fabs(fDet) < fEPSILON) |
---|
150 | return false; |
---|
151 | |
---|
152 | dReal fInvDet = 1.0f/fDet; |
---|
153 | dReal fC0 = (fN11*Plane0[3] - fN01*Plane1[3])*fInvDet; |
---|
154 | dReal fC1 = (fN00*Plane1[3] - fN01*Plane0[3])*fInvDet; |
---|
155 | |
---|
156 | dCROSS(LineDir,=,Plane0,Plane1); |
---|
157 | dNormalize3(LineDir); |
---|
158 | |
---|
159 | dVector3 Temp0,Temp1; |
---|
160 | dOPC(Temp0,*,Plane0,fC0); |
---|
161 | dOPC(Temp1,*,Plane1,fC1); |
---|
162 | dOP(LinePos,+,Temp0,Temp1); |
---|
163 | |
---|
164 | return true; |
---|
165 | } |
---|
166 | |
---|
167 | //plane ray |
---|
168 | bool FindIntersectionPlaneRay(const dReal Plane[4], |
---|
169 | const dVector3 &LinePos,const dVector3 &LineDir, |
---|
170 | dReal &u,dVector3 &Pos) |
---|
171 | { |
---|
172 | /* |
---|
173 | u = (A*X1 + B*Y1 + C*Z1 + D) / (A*(X1-X2) + B*(Y1-Y2)+C*(Z1-Z2)) |
---|
174 | */ |
---|
175 | dReal fDet = -dDot(Plane,LineDir,3); |
---|
176 | |
---|
177 | if ( fabs(fDet) < fEPSILON) |
---|
178 | return false; |
---|
179 | |
---|
180 | u = (dDot(Plane,LinePos,3) - Plane[3]) / fDet; |
---|
181 | dOPC(Pos,*,LineDir,u); |
---|
182 | dOPE(Pos,+=,LinePos); |
---|
183 | |
---|
184 | return true; |
---|
185 | } |
---|
186 | |
---|
187 | int SolveQuadraticPolynomial(dReal a,dReal b,dReal c,dReal &x0,dReal &x1) |
---|
188 | { |
---|
189 | dReal d = b*b - 4*a*c; |
---|
190 | int NumRoots = 0; |
---|
191 | dReal dr; |
---|
192 | |
---|
193 | if (d < 0.f) |
---|
194 | return NumRoots; |
---|
195 | |
---|
196 | if (d == 0.f) |
---|
197 | { |
---|
198 | NumRoots = 1; |
---|
199 | dr = 0.f; |
---|
200 | } |
---|
201 | else |
---|
202 | { |
---|
203 | NumRoots = 2; |
---|
204 | dr = sqrtf(d); |
---|
205 | } |
---|
206 | |
---|
207 | x0 = (-b -dr) / (2.f * a); |
---|
208 | x1 = (-b +dr) / (2.f * a); |
---|
209 | |
---|
210 | return NumRoots; |
---|
211 | } |
---|
212 | /* |
---|
213 | const int VALID_INTERSECTION = 1<<0; |
---|
214 | const int POS_TEST_FAILEDT0 = 1<<0; |
---|
215 | const int POS_TEST_FAILEDT1 = 1<<1; |
---|
216 | */ |
---|
217 | int ProcessConeRayIntersectionPoint( dReal r,dReal h, |
---|
218 | const dVector3 &q,const dVector3 &v,dReal t, |
---|
219 | dVector3 &p, |
---|
220 | dVector3 &n, |
---|
221 | int &f) |
---|
222 | { |
---|
223 | dOPC(p,*,v,t); |
---|
224 | dOPE(p,+=,q); |
---|
225 | n[0] = 2*p[0]; |
---|
226 | n[1] = 2*p[1]; |
---|
227 | n[2] = -2*p[2]*r*r/(h*h); |
---|
228 | |
---|
229 | f = 0; |
---|
230 | if (p[2] > h) return 0; |
---|
231 | if (p[2] < 0) return 0; |
---|
232 | if (t > 1) return 0; |
---|
233 | if (t < 0) return 0; |
---|
234 | |
---|
235 | return 1; |
---|
236 | } |
---|
237 | |
---|
238 | //cone ray |
---|
239 | //line in cone space (position,direction) |
---|
240 | //distance from line position (direction normalized)(if any) |
---|
241 | //return the number of intersection |
---|
242 | int FindIntersectionConeRay(dReal r,dReal h, |
---|
243 | const dVector3 &q,const dVector3 &v,dContactGeom *pContact) |
---|
244 | { |
---|
245 | dVector3 qp,vp; |
---|
246 | dOPE(qp,=,q); |
---|
247 | dOPE(vp,=,v); |
---|
248 | qp[2] = h-q[2]; |
---|
249 | vp[2] = -v[2]; |
---|
250 | dReal ts = (r/h); |
---|
251 | ts *= ts; |
---|
252 | dReal a = vp[0]*vp[0] + vp[1]*vp[1] - ts*vp[2]*vp[2]; |
---|
253 | dReal b = 2.f*qp[0]*vp[0] + 2.f*qp[1]*vp[1] - 2.f*ts*qp[2]*vp[2]; |
---|
254 | dReal c = qp[0]*qp[0] + qp[1]*qp[1] - ts*qp[2]*qp[2]; |
---|
255 | |
---|
256 | /* |
---|
257 | dReal a = v[0]*v[0] + v[1]*v[1] - (v[2]*v[2]*r*r) / (h*h); |
---|
258 | dReal b = 2.f*q[0]*v[0] + 2.f*q[1]*v[1] + 2.f*r*r*v[2]/h - 2*r*r*q[0]*v[0]/(h*h); |
---|
259 | dReal c = q[0]*q[0] + q[1]*q[1] + 2*r*r*q[2]/h - r*r*q[2]/(h*h) - r*r; |
---|
260 | */ |
---|
261 | int nNumRoots=SolveQuadraticPolynomial(a,b,c,pContact[0].depth,pContact[1].depth); |
---|
262 | int flag = 0; |
---|
263 | |
---|
264 | dContactGeom ValidContact[2]; |
---|
265 | |
---|
266 | int nNumValidContacts = 0; |
---|
267 | for (int i=0;i<nNumRoots;i++) |
---|
268 | { |
---|
269 | if (ProcessConeRayIntersectionPoint(r,h,q,v,pContact[i].depth,pContact[i].pos, |
---|
270 | pContact[i].normal,flag)) |
---|
271 | { |
---|
272 | ValidContact[nNumValidContacts] = pContact[i]; |
---|
273 | nNumValidContacts++; |
---|
274 | } |
---|
275 | } |
---|
276 | |
---|
277 | dOP(qp,+,q,v); |
---|
278 | |
---|
279 | if ((nNumValidContacts < 2) && (v[2] != 0.f)) |
---|
280 | { |
---|
281 | dReal d = (0.f-q[2]) / (v[2]); |
---|
282 | if ((d>=0) && (d<=1)) |
---|
283 | { |
---|
284 | dOPC(vp,*,v,d); |
---|
285 | dOP(qp,+,q,vp); |
---|
286 | |
---|
287 | if (qp[0]*qp[0]+qp[1]*qp[1] < r*r) |
---|
288 | { |
---|
289 | dOPE(ValidContact[nNumValidContacts].pos,=,qp); |
---|
290 | ValidContact[nNumValidContacts].normal[0] = 0.f; |
---|
291 | ValidContact[nNumValidContacts].normal[1] = 0.f; |
---|
292 | ValidContact[nNumValidContacts].normal[2] = -1.f; |
---|
293 | ValidContact[nNumValidContacts].depth = d; |
---|
294 | nNumValidContacts++; |
---|
295 | } |
---|
296 | } |
---|
297 | } |
---|
298 | |
---|
299 | if (nNumValidContacts == 2) |
---|
300 | { |
---|
301 | if (ValidContact[0].depth > ValidContact[1].depth) |
---|
302 | { |
---|
303 | pContact[0] = ValidContact[1]; |
---|
304 | pContact[1] = ValidContact[0]; |
---|
305 | } |
---|
306 | else |
---|
307 | { |
---|
308 | pContact[0] = ValidContact[0]; |
---|
309 | pContact[1] = ValidContact[1]; |
---|
310 | } |
---|
311 | } |
---|
312 | else if (nNumValidContacts == 1) |
---|
313 | { |
---|
314 | pContact[0] = ValidContact[0]; |
---|
315 | } |
---|
316 | |
---|
317 | return nNumValidContacts; |
---|
318 | } |
---|
319 | |
---|
320 | int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags, |
---|
321 | dContactGeom *contact, int skip) |
---|
322 | { |
---|
323 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
---|
324 | dIASSERT (o1->type == dConeClass); |
---|
325 | dIASSERT (o2->type == dPlaneClass); |
---|
326 | dxCone *cone = (dxCone*) o1; |
---|
327 | dxPlane *plane = (dxPlane*) o2; |
---|
328 | |
---|
329 | contact->g1 = o1; |
---|
330 | contact->g2 = o2; |
---|
331 | |
---|
332 | dVector3 p0,p1,pp0,pp1; |
---|
333 | dOPE(p0,=,cone->final_posr->pos); |
---|
334 | p1[0] = cone->final_posr->R[0*4+2] * cone->lz + p0[0]; |
---|
335 | p1[1] = cone->final_posr->R[1*4+2] * cone->lz + p0[1]; |
---|
336 | p1[2] = cone->final_posr->R[2*4+2] * cone->lz + p0[2]; |
---|
337 | |
---|
338 | dReal u; |
---|
339 | FindIntersectionPlaneRay(plane->p,p0,plane->p,u,pp0); |
---|
340 | FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); |
---|
341 | |
---|
342 | if (dDISTANCE(pp0,pp1) < fEPSILON) |
---|
343 | { |
---|
344 | p1[0] = cone->final_posr->R[0*4+0] * cone->lz + p0[0]; |
---|
345 | p1[1] = cone->final_posr->R[1*4+0] * cone->lz + p0[1]; |
---|
346 | p1[2] = cone->final_posr->R[2*4+0] * cone->lz + p0[2]; |
---|
347 | FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); |
---|
348 | dIASSERT(dDISTANCE(pp0,pp1) >= fEPSILON); |
---|
349 | } |
---|
350 | dVector3 h,r0,r1; |
---|
351 | h[0] = cone->final_posr->R[0*4+2]; |
---|
352 | h[1] = cone->final_posr->R[1*4+2]; |
---|
353 | h[2] = cone->final_posr->R[2*4+2]; |
---|
354 | |
---|
355 | dOP(r0,-,pp0,pp1); |
---|
356 | dCROSS(r1,=,h,r0); |
---|
357 | dCROSS(r0,=,r1,h); |
---|
358 | dNormalize3(r0); |
---|
359 | dOPEC(h,*=,cone->lz); |
---|
360 | dOPEC(r0,*=,cone->radius); |
---|
361 | |
---|
362 | dVector3 p[3]; |
---|
363 | dOP(p[0],+,cone->final_posr->pos,h); |
---|
364 | dOP(p[1],+,cone->final_posr->pos,r0); |
---|
365 | dOP(p[2],-,cone->final_posr->pos,r0); |
---|
366 | |
---|
367 | int numMaxContacts = flags & 0xffff; |
---|
368 | if (numMaxContacts == 0) |
---|
369 | numMaxContacts = 1; |
---|
370 | |
---|
371 | int n=0; |
---|
372 | for (int i=0;i<3;i++) |
---|
373 | { |
---|
374 | dReal d = dGeomPlanePointDepth(o2, p[i][0], p[i][1], p[i][2]); |
---|
375 | |
---|
376 | if (d>0.f) |
---|
377 | { |
---|
378 | CONTACT(contact,n*skip)->g1 = o1; |
---|
379 | CONTACT(contact,n*skip)->g2 = o2; |
---|
380 | dOPE(CONTACT(contact,n*skip)->normal,=,plane->p); |
---|
381 | dOPE(CONTACT(contact,n*skip)->pos,=,p[i]); |
---|
382 | CONTACT(contact,n*skip)->depth = d; |
---|
383 | n++; |
---|
384 | |
---|
385 | if (n == numMaxContacts) |
---|
386 | return n; |
---|
387 | } |
---|
388 | } |
---|
389 | |
---|
390 | return n; |
---|
391 | } |
---|
392 | |
---|
393 | int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags, |
---|
394 | dContactGeom *contact, int skip) |
---|
395 | { |
---|
396 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
---|
397 | dIASSERT (o1->type == dRayClass); |
---|
398 | dIASSERT (o2->type == dConeClass); |
---|
399 | dxRay *ray = (dxRay*) o1; |
---|
400 | dxCone *cone = (dxCone*) o2; |
---|
401 | |
---|
402 | contact->g1 = o1; |
---|
403 | contact->g2 = o2; |
---|
404 | |
---|
405 | dVector3 tmp,q,v; |
---|
406 | tmp[0] = ray->final_posr->pos[0] - cone->final_posr->pos[0]; |
---|
407 | tmp[1] = ray->final_posr->pos[1] - cone->final_posr->pos[1]; |
---|
408 | tmp[2] = ray->final_posr->pos[2] - cone->final_posr->pos[2]; |
---|
409 | dMULTIPLY1_331 (q,cone->final_posr->R,tmp); |
---|
410 | tmp[0] = ray->final_posr->R[0*4+2] * ray->length; |
---|
411 | tmp[1] = ray->final_posr->R[1*4+2] * ray->length; |
---|
412 | tmp[2] = ray->final_posr->R[2*4+2] * ray->length; |
---|
413 | dMULTIPLY1_331 (v,cone->final_posr->R,tmp); |
---|
414 | |
---|
415 | dReal r = cone->radius; |
---|
416 | dReal h = cone->lz; |
---|
417 | |
---|
418 | dContactGeom Contact[2]; |
---|
419 | |
---|
420 | if (FindIntersectionConeRay(r,h,q,v,Contact)) |
---|
421 | { |
---|
422 | dMULTIPLY0_331(contact->normal,cone->final_posr->R,Contact[0].normal); |
---|
423 | dMULTIPLY0_331(contact->pos,cone->final_posr->R,Contact[0].pos); |
---|
424 | dOPE(contact->pos,+=,cone->final_posr->pos); |
---|
425 | contact->depth = Contact[0].depth * dLENGTH(v); |
---|
426 | /* |
---|
427 | dMatrix3 RI; |
---|
428 | dRSetIdentity (RI); |
---|
429 | dVector3 ss; |
---|
430 | ss[0] = 0.01f; |
---|
431 | ss[1] = 0.01f; |
---|
432 | ss[2] = 0.01f; |
---|
433 | |
---|
434 | dsSetColorAlpha (1,0,0,0.8f); |
---|
435 | dsDrawBox(contact->pos,RI,ss); |
---|
436 | */ |
---|
437 | return 1; |
---|
438 | } |
---|
439 | |
---|
440 | return 0; |
---|
441 | } |
---|
442 | |
---|
443 | int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
---|
444 | { |
---|
445 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
---|
446 | dIASSERT (o1->type == dConeClass); |
---|
447 | dIASSERT (o2->type == dSphereClass); |
---|
448 | dxCone *cone = (dxCone*) o1; |
---|
449 | |
---|
450 | dxSphere ASphere(0,cone->radius); |
---|
451 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
---|
452 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
---|
453 | |
---|
454 | return dCollideSphereSphere(&ASphere, o2, flags, contact, skip); |
---|
455 | } |
---|
456 | |
---|
457 | int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
---|
458 | { |
---|
459 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
---|
460 | dIASSERT (o1->type == dConeClass); |
---|
461 | dIASSERT (o2->type == dBoxClass); |
---|
462 | dxCone *cone = (dxCone*) o1; |
---|
463 | |
---|
464 | dxSphere ASphere(0,cone->radius); |
---|
465 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
---|
466 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
---|
467 | |
---|
468 | return dCollideSphereBox(&ASphere, o2, flags, contact, skip); |
---|
469 | } |
---|
470 | |
---|
471 | int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
---|
472 | { |
---|
473 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
---|
474 | dIASSERT (o1->type == dCCylinderClass); |
---|
475 | dIASSERT (o2->type == dConeClass); |
---|
476 | dxCone *cone = (dxCone*) o2; |
---|
477 | |
---|
478 | dxSphere ASphere(0,cone->radius); |
---|
479 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
---|
480 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
---|
481 | |
---|
482 | return dCollideCCylinderSphere(o1, &ASphere, flags, contact, skip); |
---|
483 | } |
---|
484 | |
---|
485 | extern int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); |
---|
486 | |
---|
487 | int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) |
---|
488 | { |
---|
489 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
---|
490 | dIASSERT (o1->type == dTriMeshClass); |
---|
491 | dIASSERT (o2->type == dConeClass); |
---|
492 | dxCone *cone = (dxCone*) o2; |
---|
493 | |
---|
494 | dxSphere ASphere(0,cone->radius); |
---|
495 | dGeomSetRotation(&ASphere,cone->final_posr->R); |
---|
496 | dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); |
---|
497 | |
---|
498 | return dCollideSTL(o1, &ASphere, flags, contact, skip); |
---|
499 | } |
---|
500 | |
---|
501 | |
---|
502 | |
---|
503 | |
---|
504 | |
---|