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 | stuff common to all spaces |
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26 | |
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27 | */ |
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28 | |
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29 | #ifndef _ODE_COLLISION_SPACE_INTERNAL_H_ |
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30 | #define _ODE_COLLISION_SPACE_INTERNAL_H_ |
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31 | |
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32 | #define ALLOCA(x) dALLOCA16(x) |
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33 | |
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34 | #define CHECK_NOT_LOCKED(space) \ |
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35 | dUASSERT ((space)==0 || (space)->lock_count==0, \ |
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36 | "invalid operation for locked space"); |
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37 | |
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38 | |
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39 | // collide two geoms together. for the hash table space, this is |
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40 | // called if the two AABBs inhabit the same hash table cells. |
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41 | // this only calls the callback function if the AABBs actually |
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42 | // intersect. if a geom has an AABB test function, that is called to |
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43 | // provide a further refinement of the intersection. |
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44 | // |
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45 | // NOTE: this assumes that the geom AABBs are valid on entry |
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46 | // and that both geoms are enabled. |
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47 | |
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48 | static void collideAABBs (dxGeom *g1, dxGeom *g2, |
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49 | void *data, dNearCallback *callback) |
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50 | { |
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51 | dIASSERT((g1->gflags & GEOM_AABB_BAD)==0); |
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52 | dIASSERT((g2->gflags & GEOM_AABB_BAD)==0); |
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53 | |
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54 | // no contacts if both geoms on the same body, and the body is not 0 |
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55 | if (g1->body == g2->body && g1->body) return; |
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56 | |
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57 | // test if the category and collide bitfields match |
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58 | if ( ((g1->category_bits & g2->collide_bits) || |
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59 | (g2->category_bits & g1->collide_bits)) == 0) { |
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60 | return; |
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61 | } |
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62 | |
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63 | // if the bounding boxes are disjoint then don't do anything |
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64 | dReal *bounds1 = g1->aabb; |
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65 | dReal *bounds2 = g2->aabb; |
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66 | if (bounds1[0] > bounds2[1] || |
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67 | bounds1[1] < bounds2[0] || |
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68 | bounds1[2] > bounds2[3] || |
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69 | bounds1[3] < bounds2[2] || |
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70 | bounds1[4] > bounds2[5] || |
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71 | bounds1[5] < bounds2[4]) { |
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72 | return; |
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73 | } |
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74 | |
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75 | // check if either object is able to prove that it doesn't intersect the |
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76 | // AABB of the other |
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77 | if (g1->AABBTest (g2,bounds2) == 0) return; |
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78 | if (g2->AABBTest (g1,bounds1) == 0) return; |
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79 | |
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80 | // the objects might actually intersect - call the space callback function |
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81 | callback (data,g1,g2); |
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82 | } |
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83 | |
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84 | #endif |
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