/************************************************************************* * * * 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. * * * *************************************************************************/ /* standard ODE geometry primitives: public API and pairwise collision functions. the rule is that only the low level primitive collision functions should set dContactGeom::g1 and dContactGeom::g2. */ #include #include #include #include #include #include "collision_kernel.h" #include "collision_std.h" #include "collision_util.h" #ifdef _MSC_VER #pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" #endif //**************************************************************************** // capped cylinder public API dxCapsule::dxCapsule (dSpaceID space, dReal _radius, dReal _length) : dxGeom (space,1) { dAASSERT (_radius > 0 && _length > 0); type = dCapsuleClass; radius = _radius; lz = _length; } void dxCapsule::computeAABB() { const dMatrix3& R = final_posr->R; const dVector3& pos = final_posr->pos; dReal xrange = dFabs(R[2] * lz) * REAL(0.5) + radius; dReal yrange = dFabs(R[6] * lz) * REAL(0.5) + radius; dReal zrange = dFabs(R[10] * lz) * REAL(0.5) + radius; aabb[0] = pos[0] - xrange; aabb[1] = pos[0] + xrange; aabb[2] = pos[1] - yrange; aabb[3] = pos[1] + yrange; aabb[4] = pos[2] - zrange; aabb[5] = pos[2] + zrange; } dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length) { return new dxCapsule (space,radius,length); } void dGeomCapsuleSetParams (dGeomID g, dReal radius, dReal length) { dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder"); dAASSERT (radius > 0 && length > 0); dxCapsule *c = (dxCapsule*) g; c->radius = radius; c->lz = length; dGeomMoved (g); } void dGeomCapsuleGetParams (dGeomID g, dReal *radius, dReal *length) { dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder"); dxCapsule *c = (dxCapsule*) g; *radius = c->radius; *length = c->lz; } dReal dGeomCapsulePointDepth (dGeomID g, dReal x, dReal y, dReal z) { dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder"); g->recomputePosr(); dxCapsule *c = (dxCapsule*) g; const dReal* R = g->final_posr->R; const dReal* pos = g->final_posr->pos; dVector3 a; a[0] = x - pos[0]; a[1] = y - pos[1]; a[2] = z - pos[2]; dReal beta = dDOT14(a,R+2); dReal lz2 = c->lz*REAL(0.5); if (beta < -lz2) beta = -lz2; else if (beta > lz2) beta = lz2; a[0] = c->final_posr->pos[0] + beta*R[0*4+2]; a[1] = c->final_posr->pos[1] + beta*R[1*4+2]; a[2] = c->final_posr->pos[2] + beta*R[2*4+2]; return c->radius - dSqrt ((x-a[0])*(x-a[0]) + (y-a[1])*(y-a[1]) + (z-a[2])*(z-a[2])); } int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) { dIASSERT (skip >= (int)sizeof(dContactGeom)); dIASSERT (o1->type == dCapsuleClass); dIASSERT (o2->type == dSphereClass); dxCapsule *ccyl = (dxCapsule*) o1; dxSphere *sphere = (dxSphere*) o2; contact->g1 = o1; contact->g2 = o2; // find the point on the cylinder axis that is closest to the sphere dReal alpha = o1->final_posr->R[2] * (o2->final_posr->pos[0] - o1->final_posr->pos[0]) + o1->final_posr->R[6] * (o2->final_posr->pos[1] - o1->final_posr->pos[1]) + o1->final_posr->R[10] * (o2->final_posr->pos[2] - o1->final_posr->pos[2]); dReal lz2 = ccyl->lz * REAL(0.5); if (alpha > lz2) alpha = lz2; if (alpha < -lz2) alpha = -lz2; // collide the spheres dVector3 p; p[0] = o1->final_posr->pos[0] + alpha * o1->final_posr->R[2]; p[1] = o1->final_posr->pos[1] + alpha * o1->final_posr->R[6]; p[2] = o1->final_posr->pos[2] + alpha * o1->final_posr->R[10]; return dCollideSpheres (p,ccyl->radius,o2->final_posr->pos,sphere->radius,contact); } int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) { dIASSERT (skip >= (int)sizeof(dContactGeom)); dIASSERT (o1->type == dCapsuleClass); dIASSERT (o2->type == dBoxClass); dxCapsule *cyl = (dxCapsule*) o1; dxBox *box = (dxBox*) o2; contact->g1 = o1; contact->g2 = o2; // get p1,p2 = cylinder axis endpoints, get radius dVector3 p1,p2; dReal clen = cyl->lz * REAL(0.5); p1[0] = o1->final_posr->pos[0] + clen * o1->final_posr->R[2]; p1[1] = o1->final_posr->pos[1] + clen * o1->final_posr->R[6]; p1[2] = o1->final_posr->pos[2] + clen * o1->final_posr->R[10]; p2[0] = o1->final_posr->pos[0] - clen * o1->final_posr->R[2]; p2[1] = o1->final_posr->pos[1] - clen * o1->final_posr->R[6]; p2[2] = o1->final_posr->pos[2] - clen * o1->final_posr->R[10]; dReal radius = cyl->radius; // copy out box center, rotation matrix, and side array dReal *c = o2->final_posr->pos; dReal *R = o2->final_posr->R; const dReal *side = box->side; // get the closest point between the cylinder axis and the box dVector3 pl,pb; dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb); // generate contact point return dCollideSpheres (pl,radius,pb,0,contact); } int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) { int i; const dReal tolerance = REAL(1e-5); dIASSERT (skip >= (int)sizeof(dContactGeom)); dIASSERT (o1->type == dCapsuleClass); dIASSERT (o2->type == dCapsuleClass); dxCapsule *cyl1 = (dxCapsule*) o1; dxCapsule *cyl2 = (dxCapsule*) o2; contact->g1 = o1; contact->g2 = o2; // copy out some variables, for convenience dReal lz1 = cyl1->lz * REAL(0.5); dReal lz2 = cyl2->lz * REAL(0.5); dReal *pos1 = o1->final_posr->pos; dReal *pos2 = o2->final_posr->pos; dReal axis1[3],axis2[3]; axis1[0] = o1->final_posr->R[2]; axis1[1] = o1->final_posr->R[6]; axis1[2] = o1->final_posr->R[10]; axis2[0] = o2->final_posr->R[2]; axis2[1] = o2->final_posr->R[6]; axis2[2] = o2->final_posr->R[10]; // if the cylinder axes are close to parallel, we'll try to detect up to // two contact points along the body of the cylinder. if we can't find any // points then we'll fall back to the closest-points algorithm. note that // we are not treating this special case for reasons of degeneracy, but // because we want two contact points in some situations. the closet-points // algorithm is robust in all casts, but it can return only one contact. dVector3 sphere1,sphere2; dReal a1a2 = dDOT (axis1,axis2); dReal det = REAL(1.0)-a1a2*a1a2; if (det < tolerance) { // the cylinder axes (almost) parallel, so we will generate up to two // contacts. alpha1 and alpha2 (line position parameters) are related by: // alpha2 = alpha1 + (pos1-pos2)'*axis1 (if axis1==axis2) // or alpha2 = -(alpha1 + (pos1-pos2)'*axis1) (if axis1==-axis2) // first compute where the two cylinders overlap in alpha1 space: if (a1a2 < 0) { axis2[0] = -axis2[0]; axis2[1] = -axis2[1]; axis2[2] = -axis2[2]; } dReal q[3]; for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i]; dReal k = dDOT (axis1,q); dReal a1lo = -lz1; dReal a1hi = lz1; dReal a2lo = -lz2 - k; dReal a2hi = lz2 - k; dReal lo = (a1lo > a2lo) ? a1lo : a2lo; dReal hi = (a1hi < a2hi) ? a1hi : a2hi; if (lo <= hi) { int num_contacts = flags & NUMC_MASK; if (num_contacts >= 2 && lo < hi) { // generate up to two contacts. if one of those contacts is // not made, fall back on the one-contact strategy. for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i]; for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i]; int n1 = dCollideSpheres (sphere1,cyl1->radius, sphere2,cyl2->radius,contact); if (n1) { for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i]; for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i]; dContactGeom *c2 = CONTACT(contact,skip); int n2 = dCollideSpheres (sphere1,cyl1->radius, sphere2,cyl2->radius, c2); if (n2) { c2->g1 = o1; c2->g2 = o2; return 2; } } } // just one contact to generate, so put it in the middle of // the range dReal alpha1 = (lo + hi) * REAL(0.5); dReal alpha2 = alpha1 + k; for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i]; for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i]; return dCollideSpheres (sphere1,cyl1->radius, sphere2,cyl2->radius,contact); } } // use the closest point algorithm dVector3 a1,a2,b1,b2; a1[0] = o1->final_posr->pos[0] + axis1[0]*lz1; a1[1] = o1->final_posr->pos[1] + axis1[1]*lz1; a1[2] = o1->final_posr->pos[2] + axis1[2]*lz1; a2[0] = o1->final_posr->pos[0] - axis1[0]*lz1; a2[1] = o1->final_posr->pos[1] - axis1[1]*lz1; a2[2] = o1->final_posr->pos[2] - axis1[2]*lz1; b1[0] = o2->final_posr->pos[0] + axis2[0]*lz2; b1[1] = o2->final_posr->pos[1] + axis2[1]*lz2; b1[2] = o2->final_posr->pos[2] + axis2[2]*lz2; b2[0] = o2->final_posr->pos[0] - axis2[0]*lz2; b2[1] = o2->final_posr->pos[1] - axis2[1]*lz2; b2[2] = o2->final_posr->pos[2] - axis2[2]*lz2; dClosestLineSegmentPoints (a1,a2,b1,b2,sphere1,sphere2); return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact); } int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) { dIASSERT (skip >= (int)sizeof(dContactGeom)); dIASSERT (o1->type == dCapsuleClass); dIASSERT (o2->type == dPlaneClass); dxCapsule *ccyl = (dxCapsule*) o1; dxPlane *plane = (dxPlane*) o2; // collide the deepest capping sphere with the plane dReal sign = (dDOT14 (plane->p,o1->final_posr->R+2) > 0) ? REAL(-1.0) : REAL(1.0); dVector3 p; p[0] = o1->final_posr->pos[0] + o1->final_posr->R[2] * ccyl->lz * REAL(0.5) * sign; p[1] = o1->final_posr->pos[1] + o1->final_posr->R[6] * ccyl->lz * REAL(0.5) * sign; p[2] = o1->final_posr->pos[2] + o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign; dReal k = dDOT (p,plane->p); dReal depth = plane->p[3] - k + ccyl->radius; if (depth < 0) return 0; contact->normal[0] = plane->p[0]; contact->normal[1] = plane->p[1]; contact->normal[2] = plane->p[2]; contact->pos[0] = p[0] - plane->p[0] * ccyl->radius; contact->pos[1] = p[1] - plane->p[1] * ccyl->radius; contact->pos[2] = p[2] - plane->p[2] * ccyl->radius; contact->depth = depth; int ncontacts = 1; if ((flags & NUMC_MASK) >= 2) { // collide the other capping sphere with the plane p[0] = o1->final_posr->pos[0] - o1->final_posr->R[2] * ccyl->lz * REAL(0.5) * sign; p[1] = o1->final_posr->pos[1] - o1->final_posr->R[6] * ccyl->lz * REAL(0.5) * sign; p[2] = o1->final_posr->pos[2] - o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign; k = dDOT (p,plane->p); depth = plane->p[3] - k + ccyl->radius; if (depth >= 0) { dContactGeom *c2 = CONTACT(contact,skip); c2->normal[0] = plane->p[0]; c2->normal[1] = plane->p[1]; c2->normal[2] = plane->p[2]; c2->pos[0] = p[0] - plane->p[0] * ccyl->radius; c2->pos[1] = p[1] - plane->p[1] * ccyl->radius; c2->pos[2] = p[2] - plane->p[2] * ccyl->radius; c2->depth = depth; ncontacts = 2; } } for (int i=0; i < ncontacts; i++) { CONTACT(contact,i*skip)->g1 = o1; CONTACT(contact,i*skip)->g2 = o2; } return ncontacts; }