/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
/*
* Cylinder-trimesh collider by Alen Ladavac
* Ported to ODE by Nguyen Binh
*/
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>
#include "collision_util.h"
#define TRIMESH_INTERNAL
#include "collision_trimesh_internal.h"
#define MAX_REAL dInfinity
static const int nCYLINDER_AXIS = 2;
static const int nCYLINDER_CIRCLE_SEGMENTS = 8;
static const int nMAX_CYLINDER_TRIANGLE_CLIP_POINTS = 12;
static const int gMaxLocalContacts = 32;
#define OPTIMIZE_CONTACTS 1
// Local contacts data
typedef struct _sLocalContactData
{
dVector3 vPos;
dVector3 vNormal;
dReal fDepth;
int nFlags; // 0 = filtered out, 1 = OK
}sLocalContactData;
typedef struct _sCylinderTrimeshColliderData
{
// cylinder data
dMatrix3 mCylinderRot;
dQuaternion qCylinderRot;
dQuaternion qInvCylinderRot;
dVector3 vCylinderPos;
dVector3 vCylinderAxis;
dReal fCylinderRadius;
dReal fCylinderSize;
dVector3 avCylinderNormals[nCYLINDER_CIRCLE_SEGMENTS];
// mesh data
dQuaternion qTrimeshRot;
dQuaternion qInvTrimeshRot;
dMatrix3 mTrimeshRot;
dVector3 vTrimeshPos;
// global collider data
dVector3 vBestPoint;
dReal fBestDepth;
dReal fBestCenter;
dReal fBestrt;
int iBestAxis;
dVector3 vContactNormal;
dVector3 vNormal;
dVector3 vE0;
dVector3 vE1;
dVector3 vE2;
// ODE stuff
dGeomID gCylinder;
dxTriMesh* gTrimesh;
dContactGeom* gContact;
int iFlags;
int iSkip;
int nContacts;// = 0;
sLocalContactData gLocalContacts[gMaxLocalContacts];
} sCylinderTrimeshColliderData;
// Short type name
typedef sCylinderTrimeshColliderData sData;
// Use to classify contacts to be "near" in position
static const dReal fSameContactPositionEpsilon = REAL(0.0001); // 1e-4
// Use to classify contacts to be "near" in normal direction
static const dReal fSameContactNormalEpsilon = REAL(0.0001); // 1e-4
// If this two contact can be classified as "near"
inline int _IsNearContacts(sLocalContactData& c1,sLocalContactData& c2)
{
int bPosNear = 0;
int bSameDir = 0;
dVector3 vDiff;
// First check if they are "near" in position
dVector3Subtract(c1.vPos,c2.vPos,vDiff);
if ( (dFabs(vDiff[0]) < fSameContactPositionEpsilon)
&&(dFabs(vDiff[1]) < fSameContactPositionEpsilon)
&&(dFabs(vDiff[2]) < fSameContactPositionEpsilon))
{
bPosNear = 1;
}
// Second check if they are "near" in normal direction
dVector3Subtract(c1.vNormal,c2.vNormal,vDiff);
if ( (dFabs(vDiff[0]) < fSameContactNormalEpsilon)
&&(dFabs(vDiff[1]) < fSameContactNormalEpsilon)
&&(dFabs(vDiff[2]) < fSameContactNormalEpsilon) )
{
bSameDir = 1;
}
// Will be "near" if position and normal direction are "near"
return (bPosNear && bSameDir);
}
inline int _IsBetter(sLocalContactData& c1,sLocalContactData& c2)
{
// The not better will be throw away
// You can change the selection criteria here
return (c1.fDepth > c2.fDepth);
}
// iterate through gLocalContacts and filtered out "near contact"
inline void _OptimizeLocalContacts(sData& cData)
{
int nContacts = cData.nContacts;
for (int i = 0; i < nContacts-1; i++)
{
for (int j = i+1; j < nContacts; j++)
{
if (_IsNearContacts(cData.gLocalContacts[i],cData.gLocalContacts[j]))
{
// If they are seem to be the samed then filtered
// out the least penetrate one
if (_IsBetter(cData.gLocalContacts[j],cData.gLocalContacts[i]))
{
cData.gLocalContacts[i].nFlags = 0; // filtered 1st contact
}
else
{
cData.gLocalContacts[j].nFlags = 0; // filtered 2nd contact
}
// NOTE
// There is other way is to add two depth together but
// it not work so well. Why???
}
}
}
}
inline int _ProcessLocalContacts(sData& cData)
{
if (cData.nContacts == 0)
{
return 0;
}
#ifdef OPTIMIZE_CONTACTS
if (cData.nContacts > 1)
{
// Can be optimized...
_OptimizeLocalContacts(cData);
}
#endif
int iContact = 0;
dContactGeom* Contact = 0;
int nFinalContact = 0;
for (iContact = 0; iContact < cData.nContacts; iContact ++)
{
if (1 == cData.gLocalContacts[iContact].nFlags)
{
Contact = SAFECONTACT(cData.iFlags, cData.gContact, nFinalContact, cData.iSkip);
Contact->depth = cData.gLocalContacts[iContact].fDepth;
dVector3Copy(cData.gLocalContacts[iContact].vNormal,Contact->normal);
dVector3Copy(cData.gLocalContacts[iContact].vPos,Contact->pos);
Contact->g1 = cData.gCylinder;
Contact->g2 = cData.gTrimesh;
dVector3Inv(Contact->normal);
nFinalContact++;
}
}
// debug
//if (nFinalContact != cData.nContacts)
//{
// printf("[Info] %d contacts generated,%d filtered.\n",cData.nContacts,cData.nContacts-nFinalContact);
//}
return nFinalContact;
}
bool _cldTestAxis(sData& cData,
const dVector3 &v0,
const dVector3 &v1,
const dVector3 &v2,
dVector3& vAxis,
int iAxis,
bool bNoFlip = false)
{
// calculate length of separating axis vector
dReal fL = dVector3Length(vAxis);
// if not long enough
if ( fL < 1e-5f )
{
// do nothing
return true;
}
// otherwise normalize it
vAxis[0] /= fL;
vAxis[1] /= fL;
vAxis[2] /= fL;
dReal fdot1 = dVector3Dot(cData.vCylinderAxis,vAxis);
// project capsule on vAxis
dReal frc;
if (dFabs(fdot1) > REAL(1.0) )
{
// fdot1 = REAL(1.0);
frc = dFabs(cData.fCylinderSize* REAL(0.5));
}
else
{
frc = dFabs((cData.fCylinderSize* REAL(0.5)) * fdot1)
+ cData.fCylinderRadius * dSqrt(REAL(1.0)-(fdot1*fdot1));
}
dVector3 vV0;
dVector3Subtract(v0,cData.vCylinderPos,vV0);
dVector3 vV1;
dVector3Subtract(v1,cData.vCylinderPos,vV1);
dVector3 vV2;
dVector3Subtract(v2,cData.vCylinderPos,vV2);
// project triangle on vAxis
dReal afv[3];
afv[0] = dVector3Dot( vV0 , vAxis );
afv[1] = dVector3Dot( vV1 , vAxis );
afv[2] = dVector3Dot( vV2 , vAxis );
dReal fMin = MAX_REAL;
dReal fMax = -MAX_REAL;
// for each vertex
for(int i = 0; i < 3; i++)
{
// find minimum
if (afv[i]<fMin)
{
fMin = afv[i];
}
// find maximum
if (afv[i]>fMax)
{
fMax = afv[i];
}
}
// find capsule's center of interval on axis
dReal fCenter = (fMin+fMax)* REAL(0.5);
// calculate triangles halfinterval
dReal fTriangleRadius = (fMax-fMin)*REAL(0.5);
// if they do not overlap,
if( dFabs(fCenter) > (frc+fTriangleRadius) )
{
// exit, we have no intersection
return false;
}
// calculate depth
dReal fDepth = -(dFabs(fCenter) - (frc + fTriangleRadius ) );
// if greater then best found so far
if ( fDepth < cData.fBestDepth )
{
// remember depth
cData.fBestDepth = fDepth;
cData.fBestCenter = fCenter;
cData.fBestrt = frc;
dVector3Copy(vAxis,cData.vContactNormal);
cData.iBestAxis = iAxis;
// flip normal if interval is wrong faced
if ( fCenter< REAL(0.0) && !bNoFlip)
{
dVector3Inv(cData.vContactNormal);
cData.fBestCenter = -fCenter;
}
}
return true;
}
// intersection test between edge and circle
bool _cldTestCircleToEdgeAxis(sData& cData,
const dVector3 &v0, const dVector3 &v1, const dVector3 &v2,
const dVector3 &vCenterPoint, const dVector3 &vCylinderAxis1,
const dVector3 &vVx0, const dVector3 &vVx1, int iAxis)
{
// calculate direction of edge
dVector3 vkl;
dVector3Subtract( vVx1 , vVx0 , vkl);
dNormalize3(vkl);
// starting point of edge
dVector3 vol;
dVector3Copy(vVx0,vol);
// calculate angle cosine between cylinder axis and edge
dReal fdot2 = dVector3Dot(vkl , vCylinderAxis1);
// if edge is perpendicular to cylinder axis
if(dFabs(fdot2)<1e-5f)
{
// this can't be separating axis, because edge is parallel to circle plane
return true;
}
// find point of intersection between edge line and circle plane
dVector3 vTemp;
dVector3Subtract(vCenterPoint,vol,vTemp);
dReal fdot1 = dVector3Dot(vTemp,vCylinderAxis1);
dVector3 vpnt;// = vol + vkl * (fdot1/fdot2);
vpnt[0] = vol[0] + vkl[0] * fdot1/fdot2;
vpnt[1] = vol[1] + vkl[1] * fdot1/fdot2;
vpnt[2] = vol[2] + vkl[2] * fdot1/fdot2;
// find tangent vector on circle with same center (vCenterPoint) that touches point of intersection (vpnt)
dVector3 vTangent;
dVector3Subtract(vCenterPoint,vpnt,vTemp);
dVector3Cross(vTemp,vCylinderAxis1,vTangent);
// find vector orthogonal both to tangent and edge direction
dVector3 vAxis;
dVector3Cross(vTangent,vkl,vAxis);
// use that vector as separating axis
return _cldTestAxis( cData ,v0, v1, v2, vAxis, iAxis );
}
// helper for less key strokes
// r = ( (v1 - v2) cross v3 ) cross v3
inline void _CalculateAxis(const dVector3& v1,
const dVector3& v2,
const dVector3& v3,
dVector3& r)
{
dVector3 t1;
dVector3 t2;
dVector3Subtract(v1,v2,t1);
dVector3Cross(t1,v3,t2);
dVector3Cross(t2,v3,r);
}
bool _cldTestSeparatingAxes(sData& cData,
const dVector3 &v0,
const dVector3 &v1,
const dVector3 &v2)
{
// calculate edge vectors
dVector3Subtract(v1 ,v0 , cData.vE0);
// cData.vE1 has been calculated before -> so save some cycles here
dVector3Subtract(v0 ,v2 , cData.vE2);
// calculate caps centers in absolute space
dVector3 vCp0;
vCp0[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize* REAL(0.5));
vCp0[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize* REAL(0.5));
vCp0[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize* REAL(0.5));
dVector3 vCp1;
vCp1[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize* REAL(0.5));
vCp1[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize* REAL(0.5));
vCp1[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize* REAL(0.5));
// reset best axis
cData.iBestAxis = 0;
dVector3 vAxis;
// axis cData.vNormal
//vAxis = -cData.vNormal;
vAxis[0] = -cData.vNormal[0];
vAxis[1] = -cData.vNormal[1];
vAxis[2] = -cData.vNormal[2];
if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 1, true))
{
return false;
}
// axis CxE0
// vAxis = ( cData.vCylinderAxis cross cData.vE0 );
dVector3Cross(cData.vCylinderAxis, cData.vE0,vAxis);
if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 2))
{
return false;
}
// axis CxE1
// vAxis = ( cData.vCylinderAxis cross cData.vE1 );
dVector3Cross(cData.vCylinderAxis, cData.vE1,vAxis);
if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 3))
{
return false;
}
// axis CxE2
// vAxis = ( cData.vCylinderAxis cross cData.vE2 );
dVector3Cross(cData.vCylinderAxis, cData.vE2,vAxis);
if (!_cldTestAxis( cData ,v0, v1, v2, vAxis, 4))
{
return false;
}
// first vertex on triangle
// axis ((V0-Cp0) x C) x C
//vAxis = ( ( v0-vCp0 ) cross cData.vCylinderAxis ) cross cData.vCylinderAxis;
_CalculateAxis(v0 , vCp0 , cData.vCylinderAxis , vAxis);
if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 11))
{
return false;
}
// second vertex on triangle
// axis ((V1-Cp0) x C) x C
// vAxis = ( ( v1-vCp0 ) cross cData.vCylinderAxis ) cross cData.vCylinderAxis;
_CalculateAxis(v1 , vCp0 , cData.vCylinderAxis , vAxis);
if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 12))
{
return false;
}
// third vertex on triangle
// axis ((V2-Cp0) x C) x C
//vAxis = ( ( v2-vCp0 ) cross cData.vCylinderAxis ) cross cData.vCylinderAxis;
_CalculateAxis(v2 , vCp0 , cData.vCylinderAxis , vAxis);
if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 13))
{
return FALSE;
}
// test cylinder axis
// vAxis = cData.vCylinderAxis;
dVector3Copy(cData.vCylinderAxis , vAxis);
if (!_cldTestAxis(cData , v0, v1, v2, vAxis, 14))
{
return false;
}
// Test top and bottom circle ring of cylinder for separation
dVector3 vccATop;
vccATop[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize * REAL(0.5));
vccATop[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize * REAL(0.5));
vccATop[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize * REAL(0.5));
dVector3 vccABottom;
vccABottom[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize * REAL(0.5));
vccABottom[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize * REAL(0.5));
vccABottom[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize * REAL(0.5));
if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccATop, cData.vCylinderAxis, v0, v1, 15))
{
return false;
}
if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccATop, cData.vCylinderAxis, v1, v2, 16))
{
return false;
}
if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccATop, cData.vCylinderAxis, v0, v2, 17))
{
return false;
}
if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccABottom, cData.vCylinderAxis, v0, v1, 18))
{
return false;
}
if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccABottom, cData.vCylinderAxis, v1, v2, 19))
{
return false;
}
if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccABottom, cData.vCylinderAxis, v0, v2, 20))
{
return false;
}
return true;
}
bool _cldClipCylinderEdgeToTriangle(sData& cData, const dVector3 &v0, const dVector3 &v1, const dVector3 &v2)
{
// translate cylinder
dReal fTemp = dVector3Dot(cData.vCylinderAxis , cData.vContactNormal);
dVector3 vN2;
vN2[0] = cData.vContactNormal[0] - cData.vCylinderAxis[0]*fTemp;
vN2[1] = cData.vContactNormal[1] - cData.vCylinderAxis[1]*fTemp;
vN2[2] = cData.vContactNormal[2] - cData.vCylinderAxis[2]*fTemp;
fTemp = dVector3Length(vN2);
if (fTemp < 1e-5)
{
return false;
}
// Normalize it
vN2[0] /= fTemp;
vN2[1] /= fTemp;
vN2[2] /= fTemp;
// calculate caps centers in absolute space
dVector3 vCposTrans;
vCposTrans[0] = cData.vCylinderPos[0] + vN2[0]*cData.fCylinderRadius;
vCposTrans[1] = cData.vCylinderPos[1] + vN2[1]*cData.fCylinderRadius;
vCposTrans[2] = cData.vCylinderPos[2] + vN2[2]*cData.fCylinderRadius;
dVector3 vCEdgePoint0;
vCEdgePoint0[0] = vCposTrans[0] + cData.vCylinderAxis[0] * (cData.fCylinderSize* REAL(0.5));
vCEdgePoint0[1] = vCposTrans[1] + cData.vCylinderAxis[1] * (cData.fCylinderSize* REAL(0.5));
vCEdgePoint0[2] = vCposTrans[2] + cData.vCylinderAxis[2] * (cData.fCylinderSize* REAL(0.5));
dVector3 vCEdgePoint1;
vCEdgePoint1[0] = vCposTrans[0] - cData.vCylinderAxis[0] * (cData.fCylinderSize* REAL(0.5));
vCEdgePoint1[1] = vCposTrans[1] - cData.vCylinderAxis[1] * (cData.fCylinderSize* REAL(0.5));
vCEdgePoint1[2] = vCposTrans[2] - cData.vCylinderAxis[2] * (cData.fCylinderSize* REAL(0.5));
// transform cylinder edge points into triangle space
vCEdgePoint0[0] -= v0[0];
vCEdgePoint0[1] -= v0[1];
vCEdgePoint0[2] -= v0[2];
vCEdgePoint1[0] -= v0[0];
vCEdgePoint1[1] -= v0[1];
vCEdgePoint1[2] -= v0[2];
dVector4 plPlane;
dVector3 vPlaneNormal;
// triangle plane
//plPlane = Plane4f( -cData.vNormal, 0);
vPlaneNormal[0] = -cData.vNormal[0];
vPlaneNormal[1] = -cData.vNormal[1];
vPlaneNormal[2] = -cData.vNormal[2];
dConstructPlane(vPlaneNormal,REAL(0.0),plPlane);
if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
{
return false;
}
// plane with edge 0
//plPlane = Plane4f( ( cData.vNormal cross cData.vE0 ), 1e-5f);
dVector3Cross(cData.vNormal,cData.vE0,vPlaneNormal);
dConstructPlane(vPlaneNormal,1e-5f,plPlane);
if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
{
return false;
}
// plane with edge 1
//dVector3 vTemp = ( cData.vNormal cross cData.vE1 );
dVector3Cross(cData.vNormal,cData.vE1,vPlaneNormal);
fTemp = dVector3Dot(cData.vE0 , vPlaneNormal) - 1e-5;
//plPlane = Plane4f( vTemp, -(( cData.vE0 dot vTemp )-1e-5f));
dConstructPlane(vPlaneNormal,-fTemp,plPlane);
if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
{
return false;
}
// plane with edge 2
// plPlane = Plane4f( ( cData.vNormal cross cData.vE2 ), 1e-5f);
dVector3Cross(cData.vNormal,cData.vE2,vPlaneNormal);
dConstructPlane(vPlaneNormal,1e-5f,plPlane);
if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
{
return false;
}
// return capsule edge points into absolute space
vCEdgePoint0[0] += v0[0];
vCEdgePoint0[1] += v0[1];
vCEdgePoint0[2] += v0[2];
vCEdgePoint1[0] += v0[0];
vCEdgePoint1[1] += v0[1];
vCEdgePoint1[2] += v0[2];
// calculate depths for both contact points
dVector3 vTemp;
dVector3Subtract(vCEdgePoint0,cData.vCylinderPos, vTemp);
dReal fRestDepth0 = -dVector3Dot(vTemp,cData.vContactNormal) + cData.fBestrt;
dVector3Subtract(vCEdgePoint1,cData.vCylinderPos, vTemp);
dReal fRestDepth1 = -dVector3Dot(vTemp,cData.vContactNormal) + cData.fBestrt;
dReal fDepth0 = cData.fBestDepth - (fRestDepth0);
dReal fDepth1 = cData.fBestDepth - (fRestDepth1);
// clamp depths to zero
if(fDepth0 < REAL(0.0) )
{
fDepth0 = REAL(0.0);
}
if(fDepth1<REAL(0.0))
{
fDepth1 = REAL(0.0);
}
// Generate contact 0
{
cData.gLocalContacts[cData.nContacts].fDepth = fDepth0;
dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
dVector3Copy(vCEdgePoint0,cData.gLocalContacts[cData.nContacts].vPos);
cData.gLocalContacts[cData.nContacts].nFlags = 1;
cData.nContacts++;
}
// Generate contact 1
{
// generate contacts
cData.gLocalContacts[cData.nContacts].fDepth = fDepth1;
dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
dVector3Copy(vCEdgePoint1,cData.gLocalContacts[cData.nContacts].vPos);
cData.gLocalContacts[cData.nContacts].nFlags = 1;
cData.nContacts++;
}
return true;
}
void _cldClipCylinderToTriangle(sData& cData,const dVector3 &v0, const dVector3 &v1, const dVector3 &v2)
{
dVector3 avPoints[3];
dVector3 avTempArray1[nMAX_CYLINDER_TRIANGLE_CLIP_POINTS];
dVector3 avTempArray2[nMAX_CYLINDER_TRIANGLE_CLIP_POINTS];
dSetZero(&avTempArray1[0][0],nMAX_CYLINDER_TRIANGLE_CLIP_POINTS * 4);
dSetZero(&avTempArray2[0][0],nMAX_CYLINDER_TRIANGLE_CLIP_POINTS * 4);
// setup array of triangle vertices
dVector3Copy(v0,avPoints[0]);
dVector3Copy(v1,avPoints[1]);
dVector3Copy(v2,avPoints[2]);
dVector3 vCylinderCirclePos, vCylinderCircleNormal_Rel;
dSetZero(vCylinderCircleNormal_Rel,4);
// check which circle from cylinder we take for clipping
if ( dVector3Dot(cData.vCylinderAxis , cData.vContactNormal) > REAL(0.0))
{
// get top circle
vCylinderCirclePos[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(-1.0);
}
else
{
// get bottom circle
vCylinderCirclePos[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
vCylinderCirclePos[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(1.0);
}
dVector3 vTemp;
dQuatInv(cData.qCylinderRot , cData.qInvCylinderRot);
// transform triangle points to space of cylinder circle
for(int i=0; i<3; i++)
{
dVector3Subtract(avPoints[i] , vCylinderCirclePos , vTemp);
dQuatTransform(cData.qInvCylinderRot,vTemp,avPoints[i]);
}
int iTmpCounter1 = 0;
int iTmpCounter2 = 0;
dVector4 plPlane;
// plane of cylinder that contains circle for intersection
//plPlane = Plane4f( vCylinderCircleNormal_Rel, 0.0f );
dConstructPlane(vCylinderCircleNormal_Rel,REAL(0.0),plPlane);
dClipPolyToPlane(avPoints, 3, avTempArray1, iTmpCounter1, plPlane);
// Body of base circle of Cylinder
int nCircleSegment = 0;
for (nCircleSegment = 0; nCircleSegment < nCYLINDER_CIRCLE_SEGMENTS; nCircleSegment++)
{
dConstructPlane(cData.avCylinderNormals[nCircleSegment],cData.fCylinderRadius,plPlane);
if (0 == (nCircleSegment % 2))
{
dClipPolyToPlane( avTempArray1 , iTmpCounter1 , avTempArray2, iTmpCounter2, plPlane);
}
else
{
dClipPolyToPlane( avTempArray2, iTmpCounter2, avTempArray1 , iTmpCounter1 , plPlane );
}
dIASSERT( iTmpCounter1 >= 0 && iTmpCounter1 <= nMAX_CYLINDER_TRIANGLE_CLIP_POINTS );
dIASSERT( iTmpCounter2 >= 0 && iTmpCounter2 <= nMAX_CYLINDER_TRIANGLE_CLIP_POINTS );
}
// back transform clipped points to absolute space
dReal ftmpdot;
dReal fTempDepth;
dVector3 vPoint;
int i = 0;
if (nCircleSegment %2)
{
for( i=0; i<iTmpCounter2; i++)
{
dQuatTransform(cData.qCylinderRot,avTempArray2[i], vPoint);
vPoint[0] += vCylinderCirclePos[0];
vPoint[1] += vCylinderCirclePos[1];
vPoint[2] += vCylinderCirclePos[2];
dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
ftmpdot = dFabs(dVector3Dot(vTemp, cData.vContactNormal));
fTempDepth = cData.fBestrt - ftmpdot;
// Depth must be positive
if (fTempDepth > REAL(0.0))
{
cData.gLocalContacts[cData.nContacts].fDepth = fTempDepth;
dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
dVector3Copy(vPoint,cData.gLocalContacts[cData.nContacts].vPos);
cData.gLocalContacts[cData.nContacts].nFlags = 1;
cData.nContacts++;
}
}
}
else
{
for( i=0; i<iTmpCounter1; i++)
{
dQuatTransform(cData.qCylinderRot,avTempArray1[i], vPoint);
vPoint[0] += vCylinderCirclePos[0];
vPoint[1] += vCylinderCirclePos[1];
vPoint[2] += vCylinderCirclePos[2];
dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
ftmpdot = dFabs(dVector3Dot(vTemp, cData.vContactNormal));
fTempDepth = cData.fBestrt - ftmpdot;
// Depth must be positive
if (fTempDepth > REAL(0.0))
{
cData.gLocalContacts[cData.nContacts].fDepth = fTempDepth;
dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
dVector3Copy(vPoint,cData.gLocalContacts[cData.nContacts].vPos);
cData.gLocalContacts[cData.nContacts].nFlags = 1;
cData.nContacts++;
}
}
}
}
void TestOneTriangleVsCylinder( sData& cData,
const dVector3 &v0,
const dVector3 &v1,
const dVector3 &v2,
const bool bDoubleSided)
{
// calculate triangle normal
dVector3Subtract( v2 , v1 ,cData.vE1);
dVector3 vTemp;
dVector3Subtract( v0 , v1 ,vTemp);
dVector3Cross(cData.vE1 , vTemp , cData.vNormal );
dNormalize3( cData.vNormal);
// create plane from triangle
//Plane4f plTrianglePlane = Plane4f( vPolyNormal, v0 );
dReal plDistance = -dVector3Dot(v0, cData.vNormal);
dVector4 plTrianglePlane;
dConstructPlane( cData.vNormal,plDistance,plTrianglePlane);
// calculate sphere distance to plane
dReal fDistanceCylinderCenterToPlane = dPointPlaneDistance(cData.vCylinderPos , plTrianglePlane);
// Sphere must be over positive side of triangle
if(fDistanceCylinderCenterToPlane < 0 && !bDoubleSided)
{
// if not don't generate contacts
return;
}
dVector3 vPnt0;
dVector3 vPnt1;
dVector3 vPnt2;
if (fDistanceCylinderCenterToPlane < REAL(0.0) )
{
// flip it
dVector3Copy(v0 , vPnt0);
dVector3Copy(v1 , vPnt2);
dVector3Copy(v2 , vPnt1);
}
else
{
dVector3Copy(v0 , vPnt0);
dVector3Copy(v1 , vPnt1);
dVector3Copy(v2 , vPnt2);
}
cData.fBestDepth = MAX_REAL;
// do intersection test and find best separating axis
if(!_cldTestSeparatingAxes(cData , vPnt0, vPnt1, vPnt2) )
{
// if not found do nothing
return;
}
// if best separation axis is not found
if ( cData.iBestAxis == 0 )
{
// this should not happen (we should already exit in that case)
dIASSERT(false);
// do nothing
return;
}
dReal fdot = dVector3Dot( cData.vContactNormal , cData.vCylinderAxis );
// choose which clipping method are we going to apply
if (dFabs(fdot) < REAL(0.9) )
{
if (!_cldClipCylinderEdgeToTriangle(cData ,vPnt0, vPnt1, vPnt2))
{
return;
}
}
else
{
_cldClipCylinderToTriangle(cData ,vPnt0, vPnt1, vPnt2);
}
}
void _InitCylinderTrimeshData(sData& cData)
{
// get cylinder information
// Rotation
const dReal* pRotCyc = dGeomGetRotation(cData.gCylinder);
dMatrix3Copy(pRotCyc,cData.mCylinderRot);
dGeomGetQuaternion(cData.gCylinder,cData.qCylinderRot);
// Position
const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(cData.gCylinder);
dVector3Copy(*pPosCyc,cData.vCylinderPos);
// Cylinder axis
dMat3GetCol(cData.mCylinderRot,nCYLINDER_AXIS,cData.vCylinderAxis);
// get cylinder radius and size
dGeomCylinderGetParams(cData.gCylinder,&cData.fCylinderRadius,&cData.fCylinderSize);
// get trimesh position and orientation
const dReal* pRotTris = dGeomGetRotation(cData.gTrimesh);
dMatrix3Copy(pRotTris,cData.mTrimeshRot);
dGeomGetQuaternion(cData.gTrimesh,cData.qTrimeshRot);
// Position
const dVector3* pPosTris = (const dVector3*)dGeomGetPosition(cData.gTrimesh);
dVector3Copy(*pPosTris,cData.vTrimeshPos);
// calculate basic angle for 8-gon
dReal fAngle = M_PI / nCYLINDER_CIRCLE_SEGMENTS;
// calculate angle increment
dReal fAngleIncrement = fAngle*REAL(2.0);
// calculate plane normals
// axis dependant code
for(int i=0; i<nCYLINDER_CIRCLE_SEGMENTS; i++)
{
cData.avCylinderNormals[i][0] = -dCos(fAngle);
cData.avCylinderNormals[i][1] = -dSin(fAngle);
cData.avCylinderNormals[i][2] = REAL(0.0);
fAngle += fAngleIncrement;
}
dSetZero(cData.vBestPoint,4);
// reset best depth
cData.fBestCenter = REAL(0.0);
}
// cylinder to mesh collider
int dCollideCylinderTrimesh(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
{
// Main data holder
sData cData;
// Assign ODE stuff
cData.gCylinder = o1;
cData.gTrimesh = (dxTriMesh*)o2;
cData.iFlags = flags;
cData.iSkip = skip;
cData.gContact = contact;
cData.nContacts = 0;
_InitCylinderTrimeshData(cData);
OBBCollider& Collider = cData.gTrimesh->_OBBCollider;
Point cCenter(cData.vCylinderPos[0],cData.vCylinderPos[1],cData.vCylinderPos[2]);
Point cExtents(cData.fCylinderRadius,cData.fCylinderRadius,cData.fCylinderRadius);
cExtents[nCYLINDER_AXIS] = cData.fCylinderSize * REAL(0.5);
Matrix3x3 obbRot;
obbRot[0][0] = cData.mCylinderRot[0];
obbRot[1][0] = cData.mCylinderRot[1];
obbRot[2][0] = cData.mCylinderRot[2];
obbRot[0][1] = cData.mCylinderRot[4];
obbRot[1][1] = cData.mCylinderRot[5];
obbRot[2][1] = cData.mCylinderRot[6];
obbRot[0][2] = cData.mCylinderRot[8];
obbRot[1][2] = cData.mCylinderRot[9];
obbRot[2][2] = cData.mCylinderRot[10];
OBB obbCCylinder(cCenter,cExtents,obbRot);
Matrix4x4 CCylinderMatrix;
MakeMatrix(cData.vCylinderPos, cData.mCylinderRot, CCylinderMatrix);
Matrix4x4 MeshMatrix;
MakeMatrix(cData.vTrimeshPos, cData.mTrimeshRot, MeshMatrix);
// TC results
if (cData.gTrimesh->doBoxTC)
{
dxTriMesh::BoxTC* BoxTC = 0;
for (int i = 0; i < cData.gTrimesh->BoxTCCache.size(); i++)
{
if (cData.gTrimesh->BoxTCCache[i].Geom == cData.gCylinder)
{
BoxTC = &cData.gTrimesh->BoxTCCache[i];
break;
}
}
if (!BoxTC)
{
cData.gTrimesh->BoxTCCache.push(dxTriMesh::BoxTC());
BoxTC = &cData.gTrimesh->BoxTCCache[cData.gTrimesh->BoxTCCache.size() - 1];
BoxTC->Geom = cData.gCylinder;
BoxTC->FatCoeff = REAL(1.0);
}
// Intersect
Collider.SetTemporalCoherence(true);
Collider.Collide(*BoxTC, obbCCylinder, cData.gTrimesh->Data->BVTree, null, &MeshMatrix);
}
else
{
Collider.SetTemporalCoherence(false);
Collider.Collide(dxTriMesh::defaultBoxCache, obbCCylinder, cData.gTrimesh->Data->BVTree, null,&MeshMatrix);
}
// Retrieve data
int TriCount = Collider.GetNbTouchedPrimitives();
const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
if (TriCount != 0)
{
if (cData.gTrimesh->ArrayCallback != null)
{
cData.gTrimesh->ArrayCallback(cData.gTrimesh, cData.gCylinder, Triangles, TriCount);
}
int OutTriCount = 0;
// loop through all intersecting triangles
for (int i = 0; i < TriCount; i++)
{
if(cData.nContacts >= (cData.iFlags & NUMC_MASK))
{
break;
}
const int& Triint = Triangles[i];
if (!Callback(cData.gTrimesh, cData.gCylinder, Triint)) continue;
dVector3 dv[3];
FetchTriangle(cData.gTrimesh, Triint, cData.vTrimeshPos, cData.mTrimeshRot, dv);
// test this triangle
TestOneTriangleVsCylinder(cData , dv[0],dv[1],dv[2], false);
}
}
return _ProcessLocalContacts(cData);
}
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