85 lines
3.3 KiB
C
85 lines
3.3 KiB
C
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/*
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stuff common to all spaces
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*/
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#ifndef _ODE_COLLISION_SPACE_INTERNAL_H_
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#define _ODE_COLLISION_SPACE_INTERNAL_H_
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#define ALLOCA(x) dALLOCA16(x)
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#define CHECK_NOT_LOCKED(space) \
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dUASSERT ((space)==0 || (space)->lock_count==0, \
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"invalid operation for locked space");
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// collide two geoms together. for the hash table space, this is
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// called if the two AABBs inhabit the same hash table cells.
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// this only calls the callback function if the AABBs actually
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// intersect. if a geom has an AABB test function, that is called to
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// provide a further refinement of the intersection.
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//
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// NOTE: this assumes that the geom AABBs are valid on entry
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// and that both geoms are enabled.
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static void collideAABBs (dxGeom *g1, dxGeom *g2,
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void *data, dNearCallback *callback)
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{
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dIASSERT((g1->gflags & GEOM_AABB_BAD)==0);
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dIASSERT((g2->gflags & GEOM_AABB_BAD)==0);
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// no contacts if both geoms on the same body, and the body is not 0
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if (g1->body == g2->body && g1->body) return;
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// test if the category and collide bitfields match
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if ( ((g1->category_bits & g2->collide_bits) ||
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(g2->category_bits & g1->collide_bits)) == 0) {
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return;
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}
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// if the bounding boxes are disjoint then don't do anything
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dReal *bounds1 = g1->aabb;
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dReal *bounds2 = g2->aabb;
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if (bounds1[0] > bounds2[1] ||
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bounds1[1] < bounds2[0] ||
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bounds1[2] > bounds2[3] ||
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bounds1[3] < bounds2[2] ||
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bounds1[4] > bounds2[5] ||
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bounds1[5] < bounds2[4]) {
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return;
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}
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// check if either object is able to prove that it doesn't intersect the
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// AABB of the other
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if (g1->AABBTest (g2,bounds2) == 0) return;
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if (g2->AABBTest (g1,bounds1) == 0) return;
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// the objects might actually intersect - call the space callback function
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callback (data,g1,g2);
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}
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#endif
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