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 | /* |
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24 | |
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25 | standard ODE geometry primitives: public API and pairwise collision functions. |
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26 | |
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27 | the rule is that only the low level primitive collision functions should set |
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28 | dContactGeom::g1 and dContactGeom::g2. |
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29 | |
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30 | */ |
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31 | |
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32 | #include <ode/common.h> |
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33 | #include <ode/collision.h> |
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34 | #include <ode/matrix.h> |
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35 | #include <ode/rotation.h> |
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36 | #include <ode/odemath.h> |
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37 | #include "collision_kernel.h" |
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38 | #include "collision_std.h" |
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39 | #include "collision_util.h" |
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40 | |
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41 | #ifdef _MSC_VER |
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42 | #pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" |
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43 | #endif |
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44 | |
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45 | //**************************************************************************** |
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46 | // capped cylinder public API |
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47 | |
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48 | dxCapsule::dxCapsule (dSpaceID space, dReal _radius, dReal _length) : |
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49 | dxGeom (space,1) |
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50 | { |
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51 | dAASSERT (_radius > 0 && _length > 0); |
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52 | type = dCapsuleClass; |
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53 | radius = _radius; |
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54 | lz = _length; |
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55 | } |
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56 | |
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57 | |
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58 | void dxCapsule::computeAABB() |
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59 | { |
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60 | const dMatrix3& R = final_posr->R; |
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61 | const dVector3& pos = final_posr->pos; |
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62 | |
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63 | dReal xrange = dFabs(R[2] * lz) * REAL(0.5) + radius; |
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64 | dReal yrange = dFabs(R[6] * lz) * REAL(0.5) + radius; |
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65 | dReal zrange = dFabs(R[10] * lz) * REAL(0.5) + radius; |
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66 | aabb[0] = pos[0] - xrange; |
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67 | aabb[1] = pos[0] + xrange; |
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68 | aabb[2] = pos[1] - yrange; |
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69 | aabb[3] = pos[1] + yrange; |
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70 | aabb[4] = pos[2] - zrange; |
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71 | aabb[5] = pos[2] + zrange; |
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72 | } |
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73 | |
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74 | |
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75 | dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length) |
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76 | { |
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77 | return new dxCapsule (space,radius,length); |
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78 | } |
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79 | |
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80 | |
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81 | void dGeomCapsuleSetParams (dGeomID g, dReal radius, dReal length) |
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82 | { |
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83 | dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder"); |
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84 | dAASSERT (radius > 0 && length > 0); |
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85 | dxCapsule *c = (dxCapsule*) g; |
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86 | c->radius = radius; |
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87 | c->lz = length; |
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88 | dGeomMoved (g); |
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89 | } |
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90 | |
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91 | |
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92 | void dGeomCapsuleGetParams (dGeomID g, dReal *radius, dReal *length) |
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93 | { |
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94 | dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder"); |
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95 | dxCapsule *c = (dxCapsule*) g; |
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96 | *radius = c->radius; |
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97 | *length = c->lz; |
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98 | } |
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99 | |
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100 | |
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101 | dReal dGeomCapsulePointDepth (dGeomID g, dReal x, dReal y, dReal z) |
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102 | { |
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103 | dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder"); |
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104 | g->recomputePosr(); |
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105 | dxCapsule *c = (dxCapsule*) g; |
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106 | |
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107 | const dReal* R = g->final_posr->R; |
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108 | const dReal* pos = g->final_posr->pos; |
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109 | |
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110 | dVector3 a; |
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111 | a[0] = x - pos[0]; |
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112 | a[1] = y - pos[1]; |
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113 | a[2] = z - pos[2]; |
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114 | dReal beta = dDOT14(a,R+2); |
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115 | dReal lz2 = c->lz*REAL(0.5); |
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116 | if (beta < -lz2) beta = -lz2; |
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117 | else if (beta > lz2) beta = lz2; |
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118 | a[0] = c->final_posr->pos[0] + beta*R[0*4+2]; |
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119 | a[1] = c->final_posr->pos[1] + beta*R[1*4+2]; |
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120 | a[2] = c->final_posr->pos[2] + beta*R[2*4+2]; |
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121 | return c->radius - |
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122 | dSqrt ((x-a[0])*(x-a[0]) + (y-a[1])*(y-a[1]) + (z-a[2])*(z-a[2])); |
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123 | } |
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124 | |
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125 | |
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126 | |
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127 | int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags, |
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128 | dContactGeom *contact, int skip) |
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129 | { |
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130 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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131 | dIASSERT (o1->type == dCapsuleClass); |
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132 | dIASSERT (o2->type == dSphereClass); |
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133 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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134 | |
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135 | dxCapsule *ccyl = (dxCapsule*) o1; |
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136 | dxSphere *sphere = (dxSphere*) o2; |
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137 | |
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138 | contact->g1 = o1; |
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139 | contact->g2 = o2; |
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140 | |
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141 | // find the point on the cylinder axis that is closest to the sphere |
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142 | dReal alpha = |
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143 | o1->final_posr->R[2] * (o2->final_posr->pos[0] - o1->final_posr->pos[0]) + |
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144 | o1->final_posr->R[6] * (o2->final_posr->pos[1] - o1->final_posr->pos[1]) + |
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145 | o1->final_posr->R[10] * (o2->final_posr->pos[2] - o1->final_posr->pos[2]); |
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146 | dReal lz2 = ccyl->lz * REAL(0.5); |
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147 | if (alpha > lz2) alpha = lz2; |
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148 | if (alpha < -lz2) alpha = -lz2; |
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149 | |
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150 | // collide the spheres |
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151 | dVector3 p; |
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152 | p[0] = o1->final_posr->pos[0] + alpha * o1->final_posr->R[2]; |
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153 | p[1] = o1->final_posr->pos[1] + alpha * o1->final_posr->R[6]; |
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154 | p[2] = o1->final_posr->pos[2] + alpha * o1->final_posr->R[10]; |
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155 | return dCollideSpheres (p,ccyl->radius,o2->final_posr->pos,sphere->radius,contact); |
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156 | } |
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157 | |
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158 | |
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159 | int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags, |
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160 | dContactGeom *contact, int skip) |
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161 | { |
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162 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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163 | dIASSERT (o1->type == dCapsuleClass); |
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164 | dIASSERT (o2->type == dBoxClass); |
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165 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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166 | |
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167 | dxCapsule *cyl = (dxCapsule*) o1; |
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168 | dxBox *box = (dxBox*) o2; |
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169 | |
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170 | contact->g1 = o1; |
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171 | contact->g2 = o2; |
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172 | |
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173 | // get p1,p2 = cylinder axis endpoints, get radius |
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174 | dVector3 p1,p2; |
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175 | dReal clen = cyl->lz * REAL(0.5); |
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176 | p1[0] = o1->final_posr->pos[0] + clen * o1->final_posr->R[2]; |
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177 | p1[1] = o1->final_posr->pos[1] + clen * o1->final_posr->R[6]; |
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178 | p1[2] = o1->final_posr->pos[2] + clen * o1->final_posr->R[10]; |
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179 | p2[0] = o1->final_posr->pos[0] - clen * o1->final_posr->R[2]; |
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180 | p2[1] = o1->final_posr->pos[1] - clen * o1->final_posr->R[6]; |
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181 | p2[2] = o1->final_posr->pos[2] - clen * o1->final_posr->R[10]; |
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182 | dReal radius = cyl->radius; |
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183 | |
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184 | // copy out box center, rotation matrix, and side array |
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185 | dReal *c = o2->final_posr->pos; |
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186 | dReal *R = o2->final_posr->R; |
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187 | const dReal *side = box->side; |
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188 | |
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189 | // get the closest point between the cylinder axis and the box |
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190 | dVector3 pl,pb; |
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191 | dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb); |
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192 | |
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193 | // generate contact point |
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194 | return dCollideSpheres (pl,radius,pb,0,contact); |
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195 | } |
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196 | |
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197 | |
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198 | int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2, |
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199 | int flags, dContactGeom *contact, int skip) |
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200 | { |
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201 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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202 | dIASSERT (o1->type == dCapsuleClass); |
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203 | dIASSERT (o2->type == dCapsuleClass); |
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204 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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205 | |
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206 | int i; |
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207 | const dReal tolerance = REAL(1e-5); |
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208 | |
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209 | dxCapsule *cyl1 = (dxCapsule*) o1; |
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210 | dxCapsule *cyl2 = (dxCapsule*) o2; |
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211 | |
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212 | contact->g1 = o1; |
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213 | contact->g2 = o2; |
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214 | |
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215 | // copy out some variables, for convenience |
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216 | dReal lz1 = cyl1->lz * REAL(0.5); |
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217 | dReal lz2 = cyl2->lz * REAL(0.5); |
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218 | dReal *pos1 = o1->final_posr->pos; |
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219 | dReal *pos2 = o2->final_posr->pos; |
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220 | dReal axis1[3],axis2[3]; |
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221 | axis1[0] = o1->final_posr->R[2]; |
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222 | axis1[1] = o1->final_posr->R[6]; |
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223 | axis1[2] = o1->final_posr->R[10]; |
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224 | axis2[0] = o2->final_posr->R[2]; |
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225 | axis2[1] = o2->final_posr->R[6]; |
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226 | axis2[2] = o2->final_posr->R[10]; |
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227 | |
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228 | // if the cylinder axes are close to parallel, we'll try to detect up to |
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229 | // two contact points along the body of the cylinder. if we can't find any |
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230 | // points then we'll fall back to the closest-points algorithm. note that |
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231 | // we are not treating this special case for reasons of degeneracy, but |
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232 | // because we want two contact points in some situations. the closet-points |
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233 | // algorithm is robust in all casts, but it can return only one contact. |
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234 | |
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235 | dVector3 sphere1,sphere2; |
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236 | dReal a1a2 = dDOT (axis1,axis2); |
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237 | dReal det = REAL(1.0)-a1a2*a1a2; |
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238 | if (det < tolerance) { |
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239 | // the cylinder axes (almost) parallel, so we will generate up to two |
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240 | // contacts. alpha1 and alpha2 (line position parameters) are related by: |
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241 | // alpha2 = alpha1 + (pos1-pos2)'*axis1 (if axis1==axis2) |
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242 | // or alpha2 = -(alpha1 + (pos1-pos2)'*axis1) (if axis1==-axis2) |
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243 | // first compute where the two cylinders overlap in alpha1 space: |
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244 | if (a1a2 < 0) { |
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245 | axis2[0] = -axis2[0]; |
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246 | axis2[1] = -axis2[1]; |
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247 | axis2[2] = -axis2[2]; |
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248 | } |
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249 | dReal q[3]; |
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250 | for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i]; |
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251 | dReal k = dDOT (axis1,q); |
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252 | dReal a1lo = -lz1; |
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253 | dReal a1hi = lz1; |
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254 | dReal a2lo = -lz2 - k; |
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255 | dReal a2hi = lz2 - k; |
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256 | dReal lo = (a1lo > a2lo) ? a1lo : a2lo; |
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257 | dReal hi = (a1hi < a2hi) ? a1hi : a2hi; |
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258 | if (lo <= hi) { |
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259 | int num_contacts = flags & NUMC_MASK; |
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260 | if (num_contacts >= 2 && lo < hi) { |
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261 | // generate up to two contacts. if one of those contacts is |
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262 | // not made, fall back on the one-contact strategy. |
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263 | for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i]; |
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264 | for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i]; |
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265 | int n1 = dCollideSpheres (sphere1,cyl1->radius, |
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266 | sphere2,cyl2->radius,contact); |
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267 | if (n1) { |
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268 | for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i]; |
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269 | for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i]; |
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270 | dContactGeom *c2 = CONTACT(contact,skip); |
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271 | int n2 = dCollideSpheres (sphere1,cyl1->radius, |
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272 | sphere2,cyl2->radius, c2); |
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273 | if (n2) { |
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274 | c2->g1 = o1; |
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275 | c2->g2 = o2; |
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276 | return 2; |
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277 | } |
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278 | } |
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279 | } |
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280 | |
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281 | // just one contact to generate, so put it in the middle of |
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282 | // the range |
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283 | dReal alpha1 = (lo + hi) * REAL(0.5); |
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284 | dReal alpha2 = alpha1 + k; |
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285 | for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i]; |
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286 | for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i]; |
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287 | return dCollideSpheres (sphere1,cyl1->radius, |
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288 | sphere2,cyl2->radius,contact); |
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289 | } |
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290 | } |
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291 | |
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292 | // use the closest point algorithm |
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293 | dVector3 a1,a2,b1,b2; |
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294 | a1[0] = o1->final_posr->pos[0] + axis1[0]*lz1; |
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295 | a1[1] = o1->final_posr->pos[1] + axis1[1]*lz1; |
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296 | a1[2] = o1->final_posr->pos[2] + axis1[2]*lz1; |
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297 | a2[0] = o1->final_posr->pos[0] - axis1[0]*lz1; |
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298 | a2[1] = o1->final_posr->pos[1] - axis1[1]*lz1; |
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299 | a2[2] = o1->final_posr->pos[2] - axis1[2]*lz1; |
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300 | b1[0] = o2->final_posr->pos[0] + axis2[0]*lz2; |
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301 | b1[1] = o2->final_posr->pos[1] + axis2[1]*lz2; |
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302 | b1[2] = o2->final_posr->pos[2] + axis2[2]*lz2; |
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303 | b2[0] = o2->final_posr->pos[0] - axis2[0]*lz2; |
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304 | b2[1] = o2->final_posr->pos[1] - axis2[1]*lz2; |
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305 | b2[2] = o2->final_posr->pos[2] - axis2[2]*lz2; |
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306 | |
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307 | dClosestLineSegmentPoints (a1,a2,b1,b2,sphere1,sphere2); |
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308 | return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact); |
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309 | } |
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310 | |
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311 | |
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312 | int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags, |
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313 | dContactGeom *contact, int skip) |
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314 | { |
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315 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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316 | dIASSERT (o1->type == dCapsuleClass); |
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317 | dIASSERT (o2->type == dPlaneClass); |
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318 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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319 | |
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320 | dxCapsule *ccyl = (dxCapsule*) o1; |
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321 | dxPlane *plane = (dxPlane*) o2; |
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322 | |
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323 | // collide the deepest capping sphere with the plane |
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324 | dReal sign = (dDOT14 (plane->p,o1->final_posr->R+2) > 0) ? REAL(-1.0) : REAL(1.0); |
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325 | dVector3 p; |
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326 | p[0] = o1->final_posr->pos[0] + o1->final_posr->R[2] * ccyl->lz * REAL(0.5) * sign; |
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327 | p[1] = o1->final_posr->pos[1] + o1->final_posr->R[6] * ccyl->lz * REAL(0.5) * sign; |
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328 | p[2] = o1->final_posr->pos[2] + o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign; |
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329 | |
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330 | dReal k = dDOT (p,plane->p); |
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331 | dReal depth = plane->p[3] - k + ccyl->radius; |
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332 | if (depth < 0) return 0; |
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333 | contact->normal[0] = plane->p[0]; |
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334 | contact->normal[1] = plane->p[1]; |
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335 | contact->normal[2] = plane->p[2]; |
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336 | contact->pos[0] = p[0] - plane->p[0] * ccyl->radius; |
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337 | contact->pos[1] = p[1] - plane->p[1] * ccyl->radius; |
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338 | contact->pos[2] = p[2] - plane->p[2] * ccyl->radius; |
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339 | contact->depth = depth; |
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340 | |
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341 | int ncontacts = 1; |
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342 | if ((flags & NUMC_MASK) >= 2) { |
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343 | // collide the other capping sphere with the plane |
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344 | p[0] = o1->final_posr->pos[0] - o1->final_posr->R[2] * ccyl->lz * REAL(0.5) * sign; |
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345 | p[1] = o1->final_posr->pos[1] - o1->final_posr->R[6] * ccyl->lz * REAL(0.5) * sign; |
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346 | p[2] = o1->final_posr->pos[2] - o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign; |
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347 | |
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348 | k = dDOT (p,plane->p); |
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349 | depth = plane->p[3] - k + ccyl->radius; |
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350 | if (depth >= 0) { |
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351 | dContactGeom *c2 = CONTACT(contact,skip); |
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352 | c2->normal[0] = plane->p[0]; |
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353 | c2->normal[1] = plane->p[1]; |
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354 | c2->normal[2] = plane->p[2]; |
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355 | c2->pos[0] = p[0] - plane->p[0] * ccyl->radius; |
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356 | c2->pos[1] = p[1] - plane->p[1] * ccyl->radius; |
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357 | c2->pos[2] = p[2] - plane->p[2] * ccyl->radius; |
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358 | c2->depth = depth; |
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359 | ncontacts = 2; |
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360 | } |
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361 | } |
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362 | |
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363 | for (int i=0; i < ncontacts; i++) { |
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364 | CONTACT(contact,i*skip)->g1 = o1; |
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365 | CONTACT(contact,i*skip)->g2 = o2; |
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366 | } |
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367 | return ncontacts; |
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368 | } |
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369 | |
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