[216] | 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 | //**************************************************************************** |
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| 47 | // sphere public API |
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| 48 | |
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| 49 | dxSphere::dxSphere (dSpaceID space, dReal _radius) : dxGeom (space,1) |
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| 50 | { |
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| 51 | dAASSERT (_radius > 0); |
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| 52 | type = dSphereClass; |
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| 53 | radius = _radius; |
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| 54 | } |
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| 55 | |
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| 56 | |
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| 57 | void dxSphere::computeAABB() |
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| 58 | { |
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| 59 | aabb[0] = final_posr->pos[0] - radius; |
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| 60 | aabb[1] = final_posr->pos[0] + radius; |
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| 61 | aabb[2] = final_posr->pos[1] - radius; |
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| 62 | aabb[3] = final_posr->pos[1] + radius; |
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| 63 | aabb[4] = final_posr->pos[2] - radius; |
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| 64 | aabb[5] = final_posr->pos[2] + radius; |
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| 65 | } |
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| 66 | |
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| 67 | |
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| 68 | dGeomID dCreateSphere (dSpaceID space, dReal radius) |
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| 69 | { |
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| 70 | return new dxSphere (space,radius); |
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| 71 | } |
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| 72 | |
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| 73 | |
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| 74 | void dGeomSphereSetRadius (dGeomID g, dReal radius) |
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| 75 | { |
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| 76 | dUASSERT (g && g->type == dSphereClass,"argument not a sphere"); |
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| 77 | dAASSERT (radius > 0); |
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| 78 | dxSphere *s = (dxSphere*) g; |
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| 79 | s->radius = radius; |
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| 80 | dGeomMoved (g); |
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| 81 | } |
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| 82 | |
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| 83 | |
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| 84 | dReal dGeomSphereGetRadius (dGeomID g) |
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| 85 | { |
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| 86 | dUASSERT (g && g->type == dSphereClass,"argument not a sphere"); |
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| 87 | dxSphere *s = (dxSphere*) g; |
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| 88 | return s->radius; |
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| 89 | } |
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| 90 | |
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| 91 | |
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| 92 | dReal dGeomSpherePointDepth (dGeomID g, dReal x, dReal y, dReal z) |
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| 93 | { |
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| 94 | dUASSERT (g && g->type == dSphereClass,"argument not a sphere"); |
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| 95 | g->recomputePosr(); |
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| 96 | |
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| 97 | dxSphere *s = (dxSphere*) g; |
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| 98 | dReal * pos = s->final_posr->pos; |
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| 99 | return s->radius - dSqrt ((x-pos[0])*(x-pos[0]) + |
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| 100 | (y-pos[1])*(y-pos[1]) + |
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| 101 | (z-pos[2])*(z-pos[2])); |
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| 102 | } |
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| 103 | |
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| 104 | //**************************************************************************** |
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| 105 | // pairwise collision functions for standard geom types |
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| 106 | |
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| 107 | int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags, |
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| 108 | dContactGeom *contact, int skip) |
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| 109 | { |
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| 110 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 111 | dIASSERT (o1->type == dSphereClass); |
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| 112 | dIASSERT (o2->type == dSphereClass); |
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| 113 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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| 114 | |
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| 115 | dxSphere *sphere1 = (dxSphere*) o1; |
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| 116 | dxSphere *sphere2 = (dxSphere*) o2; |
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| 117 | |
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| 118 | contact->g1 = o1; |
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| 119 | contact->g2 = o2; |
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| 120 | |
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| 121 | return dCollideSpheres (o1->final_posr->pos,sphere1->radius, |
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| 122 | o2->final_posr->pos,sphere2->radius,contact); |
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| 123 | } |
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| 124 | |
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| 125 | |
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| 126 | int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags, |
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| 127 | dContactGeom *contact, int skip) |
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| 128 | { |
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| 129 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 130 | dIASSERT (o1->type == dSphereClass); |
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| 131 | dIASSERT (o2->type == dBoxClass); |
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| 132 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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| 133 | |
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| 134 | // this is easy. get the sphere center `p' relative to the box, and then clip |
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| 135 | // that to the boundary of the box (call that point `q'). if q is on the |
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| 136 | // boundary of the box and |p-q| is <= sphere radius, they touch. |
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| 137 | // if q is inside the box, the sphere is inside the box, so set a contact |
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| 138 | // normal to push the sphere to the closest box face. |
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| 139 | |
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| 140 | dVector3 l,t,p,q,r; |
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| 141 | dReal depth; |
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| 142 | int onborder = 0; |
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| 143 | |
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| 144 | dxSphere *sphere = (dxSphere*) o1; |
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| 145 | dxBox *box = (dxBox*) o2; |
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| 146 | |
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| 147 | contact->g1 = o1; |
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| 148 | contact->g2 = o2; |
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| 149 | |
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| 150 | p[0] = o1->final_posr->pos[0] - o2->final_posr->pos[0]; |
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| 151 | p[1] = o1->final_posr->pos[1] - o2->final_posr->pos[1]; |
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| 152 | p[2] = o1->final_posr->pos[2] - o2->final_posr->pos[2]; |
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| 153 | |
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| 154 | l[0] = box->side[0]*REAL(0.5); |
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| 155 | t[0] = dDOT14(p,o2->final_posr->R); |
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| 156 | if (t[0] < -l[0]) { t[0] = -l[0]; onborder = 1; } |
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| 157 | if (t[0] > l[0]) { t[0] = l[0]; onborder = 1; } |
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| 158 | |
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| 159 | l[1] = box->side[1]*REAL(0.5); |
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| 160 | t[1] = dDOT14(p,o2->final_posr->R+1); |
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| 161 | if (t[1] < -l[1]) { t[1] = -l[1]; onborder = 1; } |
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| 162 | if (t[1] > l[1]) { t[1] = l[1]; onborder = 1; } |
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| 163 | |
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| 164 | t[2] = dDOT14(p,o2->final_posr->R+2); |
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| 165 | l[2] = box->side[2]*REAL(0.5); |
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| 166 | if (t[2] < -l[2]) { t[2] = -l[2]; onborder = 1; } |
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| 167 | if (t[2] > l[2]) { t[2] = l[2]; onborder = 1; } |
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| 168 | |
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| 169 | if (!onborder) { |
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| 170 | // sphere center inside box. find closest face to `t' |
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| 171 | dReal min_distance = l[0] - dFabs(t[0]); |
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| 172 | int mini = 0; |
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| 173 | for (int i=1; i<3; i++) { |
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| 174 | dReal face_distance = l[i] - dFabs(t[i]); |
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| 175 | if (face_distance < min_distance) { |
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| 176 | min_distance = face_distance; |
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| 177 | mini = i; |
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| 178 | } |
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| 179 | } |
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| 180 | // contact position = sphere center |
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| 181 | contact->pos[0] = o1->final_posr->pos[0]; |
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| 182 | contact->pos[1] = o1->final_posr->pos[1]; |
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| 183 | contact->pos[2] = o1->final_posr->pos[2]; |
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| 184 | // contact normal points to closest face |
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| 185 | dVector3 tmp; |
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| 186 | tmp[0] = 0; |
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| 187 | tmp[1] = 0; |
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| 188 | tmp[2] = 0; |
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| 189 | tmp[mini] = (t[mini] > 0) ? REAL(1.0) : REAL(-1.0); |
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| 190 | dMULTIPLY0_331 (contact->normal,o2->final_posr->R,tmp); |
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| 191 | // contact depth = distance to wall along normal plus radius |
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| 192 | contact->depth = min_distance + sphere->radius; |
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| 193 | return 1; |
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| 194 | } |
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| 195 | |
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| 196 | t[3] = 0; //@@@ hmmm |
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| 197 | dMULTIPLY0_331 (q,o2->final_posr->R,t); |
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| 198 | r[0] = p[0] - q[0]; |
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| 199 | r[1] = p[1] - q[1]; |
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| 200 | r[2] = p[2] - q[2]; |
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| 201 | depth = sphere->radius - dSqrt(dDOT(r,r)); |
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| 202 | if (depth < 0) return 0; |
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| 203 | contact->pos[0] = q[0] + o2->final_posr->pos[0]; |
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| 204 | contact->pos[1] = q[1] + o2->final_posr->pos[1]; |
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| 205 | contact->pos[2] = q[2] + o2->final_posr->pos[2]; |
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| 206 | contact->normal[0] = r[0]; |
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| 207 | contact->normal[1] = r[1]; |
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| 208 | contact->normal[2] = r[2]; |
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| 209 | dNormalize3 (contact->normal); |
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| 210 | contact->depth = depth; |
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| 211 | return 1; |
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| 212 | } |
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| 213 | |
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| 214 | |
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| 215 | int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags, |
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| 216 | dContactGeom *contact, int skip) |
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| 217 | { |
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| 218 | dIASSERT (skip >= (int)sizeof(dContactGeom)); |
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| 219 | dIASSERT (o1->type == dSphereClass); |
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| 220 | dIASSERT (o2->type == dPlaneClass); |
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| 221 | dIASSERT ((flags & NUMC_MASK) >= 1); |
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| 222 | |
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| 223 | dxSphere *sphere = (dxSphere*) o1; |
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| 224 | dxPlane *plane = (dxPlane*) o2; |
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| 225 | |
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| 226 | contact->g1 = o1; |
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| 227 | contact->g2 = o2; |
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| 228 | dReal k = dDOT (o1->final_posr->pos,plane->p); |
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| 229 | dReal depth = plane->p[3] - k + sphere->radius; |
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| 230 | if (depth >= 0) { |
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| 231 | contact->normal[0] = plane->p[0]; |
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| 232 | contact->normal[1] = plane->p[1]; |
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| 233 | contact->normal[2] = plane->p[2]; |
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| 234 | contact->pos[0] = o1->final_posr->pos[0] - plane->p[0] * sphere->radius; |
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| 235 | contact->pos[1] = o1->final_posr->pos[1] - plane->p[1] * sphere->radius; |
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| 236 | contact->pos[2] = o1->final_posr->pos[2] - plane->p[2] * sphere->radius; |
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| 237 | contact->depth = depth; |
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| 238 | return 1; |
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| 239 | } |
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| 240 | else return 0; |
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| 241 | } |
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