///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*
* OPCODE - Optimized Collision Detection
* Copyright (C) 2001 Pierre Terdiman
* Homepage: http://www.codercorner.com/Opcode.htm
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Contains code for a planes collider.
* \file OPC_PlanesCollider.cpp
* \author Pierre Terdiman
* \date January, 1st, 2002
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Contains a Planes-vs-tree collider.
*
* \class PlanesCollider
* \author Pierre Terdiman
* \version 1.3
* \date January, 1st, 2002
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Precompiled Header
#include "Stdafx.h"
using namespace Opcode;
#include "OPC_PlanesAABBOverlap.h"
#include "OPC_PlanesTriOverlap.h"
#define SET_CONTACT(prim_index, flag) \
/* Set contact status */ \
mFlags |= flag; \
mTouchedPrimitives->Add(udword(prim_index));
//! Planes-triangle test
#define PLANES_PRIM(prim_index, flag) \
/* Request vertices from the app */ \
mIMesh->GetTriangle(mVP, prim_index); \
/* Perform triangle-box overlap test */ \
if(PlanesTriOverlap(clip_mask)) \
{ \
SET_CONTACT(prim_index, flag) \
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Constructor.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
PlanesCollider::PlanesCollider() :
mPlanes (null),
mNbPlanes (0)
{
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Destructor.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
PlanesCollider::~PlanesCollider()
{
DELETEARRAY(mPlanes);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Validates current settings. You should call this method after all the settings and callbacks have been defined.
* \return null if everything is ok, else a string describing the problem
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
const char* PlanesCollider::ValidateSettings()
{
if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!";
return VolumeCollider::ValidateSettings();
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Generic collision query for generic OPCODE models. After the call, access the results:
* - with GetContactStatus()
* - with GetNbTouchedPrimitives()
* - with GetTouchedPrimitives()
*
* \param cache [in/out] a planes cache
* \param planes [in] list of planes in world space
* \param nb_planes [in] number of planes
* \param model [in] Opcode model to collide with
* \param worldm [in] model's world matrix, or null
* \return true if success
* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool PlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm)
{
// Checkings
if(!Setup(&model)) return false;
// Init collision query
if(InitQuery(cache, planes, nb_planes, worldm)) return true;
udword PlaneMask = (1<<nb_planes)-1;
if(!model.HasLeafNodes())
{
if(model.IsQuantized())
{
const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
// Setup dequantization coeffs
mCenterCoeff = Tree->mCenterCoeff;
mExtentsCoeff = Tree->mExtentsCoeff;
// Perform collision query
if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
else _Collide(Tree->GetNodes(), PlaneMask);
}
else
{
const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
// Perform collision query
if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
else _Collide(Tree->GetNodes(), PlaneMask);
}
}
else
{
if(model.IsQuantized())
{
const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
// Setup dequantization coeffs
mCenterCoeff = Tree->mCenterCoeff;
mExtentsCoeff = Tree->mExtentsCoeff;
// Perform collision query
if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
else _Collide(Tree->GetNodes(), PlaneMask);
}
else
{
const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
// Perform collision query
if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
else _Collide(Tree->GetNodes(), PlaneMask);
}
}
return true;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Initializes a collision query :
* - reset stats & contact status
* - compute planes in model space
* - check temporal coherence
*
* \param cache [in/out] a planes cache
* \param planes [in] list of planes
* \param nb_planes [in] number of planes
* \param worldm [in] model's world matrix, or null
* \return TRUE if we can return immediately
* \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
BOOL PlanesCollider::InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm)
{
// 1) Call the base method
VolumeCollider::InitQuery();
// 2) Compute planes in model space
if(nb_planes>mNbPlanes)
{
DELETEARRAY(mPlanes);
mPlanes = new Plane[nb_planes];
}
mNbPlanes = nb_planes;
if(worldm)
{
Matrix4x4 InvWorldM;
InvertPRMatrix(InvWorldM, *worldm);
// for(udword i=0;i<nb_planes;i++) mPlanes[i] = planes[i] * InvWorldM;
for(udword i=0;i<nb_planes;i++) TransformPlane(mPlanes[i], planes[i], InvWorldM);
}
else CopyMemory(mPlanes, planes, nb_planes*sizeof(Plane));
// 3) Setup destination pointer
mTouchedPrimitives = &cache.TouchedPrimitives;
// 4) Special case: 1-triangle meshes [Opcode 1.3]
if(mCurrentModel && mCurrentModel->HasSingleNode())
{
if(!SkipPrimitiveTests())
{
// We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
mTouchedPrimitives->Reset();
// Perform overlap test between the unique triangle and the planes (and set contact status if needed)
udword clip_mask = (1<<mNbPlanes)-1;
PLANES_PRIM(udword(0), OPC_CONTACT)
// Return immediately regardless of status
return TRUE;
}
}
// 4) Check temporal coherence:
if(TemporalCoherenceEnabled())
{
// Here we use temporal coherence
// => check results from previous frame before performing the collision query
if(FirstContactEnabled())
{
// We're only interested in the first contact found => test the unique previously touched face
if(mTouchedPrimitives->GetNbEntries())
{
// Get index of previously touched face = the first entry in the array
udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0);
// Then reset the array:
// - if the overlap test below is successful, the index we'll get added back anyway
// - if it isn't, then the array should be reset anyway for the normal query
mTouchedPrimitives->Reset();
// Perform overlap test between the cached triangle and the planes (and set contact status if needed)
udword clip_mask = (1<<mNbPlanes)-1;
PLANES_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)
// Return immediately if possible
if(GetContactStatus()) return TRUE;
}
// else no face has been touched during previous query
// => we'll have to perform a normal query
}
else mTouchedPrimitives->Reset();
}
else
{
// Here we don't use temporal coherence => do a normal query
mTouchedPrimitives->Reset();
}
return FALSE;
}
#define TEST_CLIP_MASK \
/* If the box is completely included, so are its children. We don't need to do extra tests, we */ \
/* can immediately output a list of visible children. Those ones won't need to be clipped. */ \
if(!OutClipMask) \
{ \
/* Set contact status */ \
mFlags |= OPC_CONTACT; \
_Dump(node); \
return; \
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for normal AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_Collide(const AABBCollisionNode* node, udword clip_mask)
{
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->IsLeaf())
{
PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT)
}
else
{
_Collide(node->GetPos(), OutClipMask);
if(ContactFound()) return;
_Collide(node->GetNeg(), OutClipMask);
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for normal AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask)
{
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->IsLeaf())
{
SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
}
else
{
_CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
if(ContactFound()) return;
_CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for quantized AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_Collide(const AABBQuantizedNode* node, udword clip_mask)
{
// Dequantize box
const QuantizedAABB& Box = node->mAABB;
const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->IsLeaf())
{
PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT)
}
else
{
_Collide(node->GetPos(), OutClipMask);
if(ContactFound()) return;
_Collide(node->GetNeg(), OutClipMask);
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for quantized AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask)
{
// Dequantize box
const QuantizedAABB& Box = node->mAABB;
const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->IsLeaf())
{
SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
}
else
{
_CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
if(ContactFound()) return;
_CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for no-leaf AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_Collide(const AABBNoLeafNode* node, udword clip_mask)
{
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
else _Collide(node->GetPos(), OutClipMask);
if(ContactFound()) return;
if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
else _Collide(node->GetNeg(), OutClipMask);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for no-leaf AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask)
{
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
if(ContactFound()) return;
if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for quantized no-leaf AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask)
{
// Dequantize box
const QuantizedAABB& Box = node->mAABB;
const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
else _Collide(node->GetPos(), OutClipMask);
if(ContactFound()) return;
if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
else _Collide(node->GetNeg(), OutClipMask);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Recursive collision query for quantized no-leaf AABB trees.
* \param node [in] current collision node
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask)
{
// Dequantize box
const QuantizedAABB& Box = node->mAABB;
const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
// Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
udword OutClipMask;
if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
TEST_CLIP_MASK
// Else the box straddles one or several planes, so we need to recurse down the tree.
if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
if(ContactFound()) return;
if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Constructor.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
HybridPlanesCollider::HybridPlanesCollider()
{
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Destructor.
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
HybridPlanesCollider::~HybridPlanesCollider()
{
}
bool HybridPlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm)
{
// We don't want primitive tests here!
mFlags |= OPC_NO_PRIMITIVE_TESTS;
// Checkings
if(!Setup(&model)) return false;
// Init collision query
if(InitQuery(cache, planes, nb_planes, worldm)) return true;
// Special case for 1-leaf trees
if(mCurrentModel && mCurrentModel->HasSingleNode())
{
// Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
udword Nb = mIMesh->GetNbTriangles();
// Loop through all triangles
udword clip_mask = (1<<mNbPlanes)-1;
for(udword i=0;i<Nb;i++)
{
PLANES_PRIM(i, OPC_CONTACT)
}
return true;
}
// Override destination array since we're only going to get leaf boxes here
mTouchedBoxes.Reset();
mTouchedPrimitives = &mTouchedBoxes;
udword PlaneMask = (1<<nb_planes)-1;
// Now, do the actual query against leaf boxes
if(!model.HasLeafNodes())
{
if(model.IsQuantized())
{
const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
// Setup dequantization coeffs
mCenterCoeff = Tree->mCenterCoeff;
mExtentsCoeff = Tree->mExtentsCoeff;
// Perform collision query - we don't want primitive tests here!
_CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
}
else
{
const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
// Perform collision query - we don't want primitive tests here!
_CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
}
}
else
{
if(model.IsQuantized())
{
const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
// Setup dequantization coeffs
mCenterCoeff = Tree->mCenterCoeff;
mExtentsCoeff = Tree->mExtentsCoeff;
// Perform collision query - we don't want primitive tests here!
_CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
}
else
{
const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
// Perform collision query - we don't want primitive tests here!
_CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
}
}
// We only have a list of boxes so far
if(GetContactStatus())
{
// Reset contact status, since it currently only reflects collisions with leaf boxes
Collider::InitQuery();
// Change dest container so that we can use built-in overlap tests and get collided primitives
cache.TouchedPrimitives.Reset();
mTouchedPrimitives = &cache.TouchedPrimitives;
// Read touched leaf boxes
udword Nb = mTouchedBoxes.GetNbEntries();
const udword* Touched = mTouchedBoxes.GetEntries();
const LeafTriangles* LT = model.GetLeafTriangles();
const udword* Indices = model.GetIndices();
// Loop through touched leaves
udword clip_mask = (1<<mNbPlanes)-1;
while(Nb--)
{
const LeafTriangles& CurrentLeaf = LT[*Touched++];
// Each leaf box has a set of triangles
udword NbTris = CurrentLeaf.GetNbTriangles();
if(Indices)
{
const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
// Loop through triangles and test each of them
while(NbTris--)
{
udword TriangleIndex = *T++;
PLANES_PRIM(TriangleIndex, OPC_CONTACT)
}
}
else
{
udword BaseIndex = CurrentLeaf.GetTriangleIndex();
// Loop through triangles and test each of them
while(NbTris--)
{
udword TriangleIndex = BaseIndex++;
PLANES_PRIM(TriangleIndex, OPC_CONTACT)
}
}
}
}
return true;
}
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