source: code/branches/ode/ode-0.9/ode/src/collision_trimesh_ray.cpp @ 216

/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

// TriMesh code by Erwin de Vries.

#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>

#if dTRIMESH_ENABLED

#include "collision_util.h"

#define TRIMESH_INTERNAL
#include "collision_trimesh_internal.h"

#if dTRIMESH_OPCODE
int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
        dIASSERT (Stride >= (int)sizeof(dContactGeom));
        dIASSERT (g1->type == dTriMeshClass);
        dIASSERT (RayGeom->type == dRayClass);
        dIASSERT ((Flags & NUMC_MASK) >= 1);

        dxTriMesh* TriMesh = (dxTriMesh*)g1;

        const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
        const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);

        RayCollider& Collider = TriMesh->_RayCollider;

        dReal Length = dGeomRayGetLength(RayGeom);

        int FirstContact, BackfaceCull;
        dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
        int ClosestHit = dGeomRayGetClosestHit(RayGeom);

        Collider.SetFirstContact(FirstContact != 0);
        Collider.SetClosestHit(ClosestHit != 0);
        Collider.SetCulling(BackfaceCull != 0);
        Collider.SetMaxDist(Length);

        dVector3 Origin, Direction;
        dGeomRayGet(RayGeom, Origin, Direction);

        /* Make Ray */
        Ray WorldRay;
        WorldRay.mOrig.x = Origin[0];
        WorldRay.mOrig.y = Origin[1];
        WorldRay.mOrig.z = Origin[2];
        WorldRay.mDir.x = Direction[0];
        WorldRay.mDir.y = Direction[1];
        WorldRay.mDir.z = Direction[2];

        /* Intersect */
        Matrix4x4 amatrix;
        int TriCount = 0;
        if (Collider.Collide(WorldRay, TriMesh->Data->BVTree, &MakeMatrix(TLPosition, TLRotation, amatrix))) {
                TriCount = TriMesh->Faces.GetNbFaces();
        }

        if (TriCount == 0) {
                return 0;
        }
        
        const CollisionFace* Faces = TriMesh->Faces.GetFaces();

        int OutTriCount = 0;
        for (int i = 0; i < TriCount; i++) {
                if (TriMesh->RayCallback == null ||
                    TriMesh->RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
                                         Faces[i].mU, Faces[i].mV)) {
                        const int& TriIndex = Faces[i].mFaceID;
                        if (!Callback(TriMesh, RayGeom, TriIndex)) {
                                continue;
                        }

                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);

                        dVector3 dv[3];
                        FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);

                        // No sense to save on single type conversion in algorithm of this size.
                        // If there would be a custom typedef for distance type it could be used 
                        // instead of dReal. However using float directly is the loss of abstraction 
                        // and possible loss of precision in future.
                        /*float*/ dReal T = Faces[i].mDistance;
                        Contact->pos[0] = Origin[0] + (Direction[0] * T);
                        Contact->pos[1] = Origin[1] + (Direction[1] * T);
                        Contact->pos[2] = Origin[2] + (Direction[2] * T);
                        Contact->pos[3] = REAL(0.0);
                                
                        dVector3 vu;
                        vu[0] = dv[1][0] - dv[0][0];
                        vu[1] = dv[1][1] - dv[0][1];
                        vu[2] = dv[1][2] - dv[0][2];
                        vu[3] = REAL(0.0);
                                
                        dVector3 vv;
                        vv[0] = dv[2][0] - dv[0][0];
                        vv[1] = dv[2][1] - dv[0][1];
                        vv[2] = dv[2][2] - dv[0][2];
                        vv[3] = REAL(0.0);

                        dCROSS(Contact->normal, =, vv, vu);     // Reversed

                        dNormalize3(Contact->normal);

                        Contact->depth = T;
                        Contact->g1 = TriMesh;
                        Contact->g2 = RayGeom;
                                
                        OutTriCount++;

                        // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
                        if (OutTriCount >= (Flags & NUMC_MASK)) {
                                break;
                        }
                }
        }
        return OutTriCount;
}
#endif // dTRIMESH_OPCODE

#if dTRIMESH_GIMPACT
int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride)
{
        dIASSERT (Stride >= (int)sizeof(dContactGeom));
        dIASSERT (g1->type == dTriMeshClass);
        dIASSERT (RayGeom->type == dRayClass);
        dIASSERT ((Flags & NUMC_MASK) >= 1);
        
        dxTriMesh* TriMesh = (dxTriMesh*)g1;

    dReal Length = dGeomRayGetLength(RayGeom);
        int FirstContact, BackfaceCull;
        dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
        int ClosestHit = dGeomRayGetClosestHit(RayGeom);
        dVector3 Origin, Direction;
        dGeomRayGet(RayGeom, Origin, Direction);

    char intersect=0;
    GIM_TRIANGLE_RAY_CONTACT_DATA contact_data;

        if(ClosestHit)
        {
                intersect = gim_trimesh_ray_closest_collision(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
        }
        else
        {
            intersect = gim_trimesh_ray_collision(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
        }

    if(intersect == 0)
        {
        return 0;
    }

        int OutTriCount = 0;

        if(!TriMesh->RayCallback || 
                TriMesh->RayCallback(TriMesh, RayGeom, contact_data.m_face_id, contact_data.u , contact_data.v))
        {
                dContactGeom* Contact = SAFECONTACT(Flags, Contacts, (OutTriCount-1), Stride);
        VEC_COPY(Contact->pos,contact_data.m_point);
        VEC_COPY(Contact->normal,contact_data.m_normal);
        Contact->depth = contact_data.tparam;
        Contact->g1 = TriMesh;
        Contact->g2 = RayGeom;
                
                OutTriCount = 1;
        }

        return OutTriCount;
}
#endif  // dTRIMESH_GIMPACT

#endif // dTRIMESH_ENABLED