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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