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bluecore/ode/src/collision_trimesh_internal.h

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/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
// TriMesh code by Erwin de Vries.
// Modified for FreeSOLID Compatibility by Rodrigo Hernandez
#ifndef _ODE_COLLISION_TRIMESH_INTERNAL_H_
#define _ODE_COLLISION_TRIMESH_INTERNAL_H_
int dCollideCylinderTrimesh(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
int dCollideTrimeshPlane(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
int dCollideBTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
int dCollideRTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
int dCollideTTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
PURE_INLINE int dCollideRayTrimesh( dxGeom *ray, dxGeom *trimesh, int flags,
dContactGeom *contact, int skip )
{
// Swapped case, for code that needs it (heightfield initially)
// The other ray-geom colliders take geoms in a swapped order to the
// dCollideRTL function which is annoying when using function pointers.
return dCollideRTL( trimesh, ray, flags, contact, skip );
}
//****************************************************************************
// dxTriMesh class
#ifdef TRIMESH_INTERNAL
#include "collision_kernel.h"
#include <ode/collision_trimesh.h>
#if dTRIMESH_OPCODE
#define BAN_OPCODE_AUTOLINK
#include "Opcode.h"
using namespace Opcode;
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
#include <GIMPACT/gimpact.h>
#endif
struct dxTriMeshData : public dBase
{
/* Array of flags for which edges and verts should be used on each triangle */
enum UseFlags
{
kEdge0 = 0x1,
kEdge1 = 0x2,
kEdge2 = 0x4,
kVert0 = 0x8,
kVert1 = 0x10,
kVert2 = 0x20,
kUseAll = 0xFF,
};
/* Setup the UseFlags array */
void Preprocess();
/* For when app changes the vertices */
void UpdateData();
#if dTRIMESH_OPCODE
Model BVTree;
MeshInterface Mesh;
dxTriMeshData();
~dxTriMeshData();
void Build(const void* Vertices, int VertexStide, int VertexCount,
const void* Indices, int IndexCount, int TriStride,
const void* Normals,
bool Single);
/* aabb in model space */
dVector3 AABBCenter;
dVector3 AABBExtents;
// data for use in collision resolution
const void* Normals;
uint8* UseFlags;
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
const char* m_Vertices;
int m_VertexStride;
int m_VertexCount;
const char* m_Indices;
int m_TriangleCount;
int m_TriStride;
bool m_single;
dxTriMeshData()
{
m_Vertices=NULL;
m_VertexStride = 12;
m_VertexCount = 0;
m_Indices = 0;
m_TriangleCount = 0;
m_TriStride = 12;
m_single = true;
}
void Build(const void* Vertices, int VertexStide, int VertexCount,
const void* Indices, int IndexCount, int TriStride,
const void* Normals,
bool Single)
{
m_Vertices=(const char *)Vertices;
m_VertexStride = VertexStide;
m_VertexCount = VertexCount;
m_Indices = (const char *)Indices;
m_TriangleCount = IndexCount/3;
m_TriStride = TriStride;
m_single = Single;
}
inline void GetVertex(unsigned int i, dVector3 Out)
{
if(m_single)
{
const float * fverts = (const float * )(m_Vertices + m_VertexStride*i);
Out[0] = fverts[0];
Out[1] = fverts[1];
Out[2] = fverts[2];
Out[3] = 1.0f;
}
else
{
const double * dverts = (const double * )(m_Vertices + m_VertexStride*i);
Out[0] = (float)dverts[0];
Out[1] = (float)dverts[1];
Out[2] = (float)dverts[2];
Out[3] = 1.0f;
}
}
inline void GetTriIndices(unsigned int itriangle, unsigned int triindices[3])
{
const unsigned int * ind = (const unsigned int * )(m_Indices + m_TriStride*itriangle);
triindices[0] = ind[0];
triindices[1] = ind[1];
triindices[2] = ind[2];
}
#endif // dTRIMESH_GIMPACT
};
struct dxTriMesh : public dxGeom{
// Callbacks
dTriCallback* Callback;
dTriArrayCallback* ArrayCallback;
dTriRayCallback* RayCallback;
// Data types
dxTriMeshData* Data;
bool doSphereTC;
bool doBoxTC;
bool doCapsuleTC;
// Functions
dxTriMesh(dSpaceID Space, dTriMeshDataID Data);
~dxTriMesh();
void ClearTCCache();
int AABBTest(dxGeom* g, dReal aabb[6]);
void computeAABB();
#if dTRIMESH_OPCODE
// Instance data for last transform.
dMatrix4 last_trans;
// Colliders
static PlanesCollider _PlanesCollider;
static SphereCollider _SphereCollider;
static OBBCollider _OBBCollider;
static RayCollider _RayCollider;
static AABBTreeCollider _AABBTreeCollider;
static LSSCollider _LSSCollider;
// Some constants
static CollisionFaces Faces;
// Temporal coherence
struct SphereTC : public SphereCache{
dxGeom* Geom;
};
dArray<SphereTC> SphereTCCache;
static SphereCache defaultSphereCache;
struct BoxTC : public OBBCache{
dxGeom* Geom;
};
dArray<BoxTC> BoxTCCache;
static OBBCache defaultBoxCache;
struct CapsuleTC : public LSSCache{
dxGeom* Geom;
};
dArray<CapsuleTC> CapsuleTCCache;
static LSSCache defaultCapsuleCache;
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
GIM_TRIMESH m_collision_trimesh;
#endif // dTRIMESH_GIMPACT
};
#if 0
// Fetches a contact
inline dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff));
return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
}
#endif
#if dTRIMESH_OPCODE
inline void FetchTriangle(dxTriMesh* TriMesh, int Index, dVector3 Out[3]){
VertexPointers VP;
TriMesh->Data->Mesh.GetTriangle(VP, Index);
for (int i = 0; i < 3; i++){
Out[i][0] = VP.Vertex[i]->x;
Out[i][1] = VP.Vertex[i]->y;
Out[i][2] = VP.Vertex[i]->z;
Out[i][3] = 0;
}
}
inline void FetchTriangle(dxTriMesh* TriMesh, int Index, const dVector3 Position, const dMatrix3 Rotation, dVector3 Out[3]){
VertexPointers VP;
TriMesh->Data->Mesh.GetTriangle(VP, Index);
for (int i = 0; i < 3; i++){
dVector3 v;
v[0] = VP.Vertex[i]->x;
v[1] = VP.Vertex[i]->y;
v[2] = VP.Vertex[i]->z;
v[3] = 0;
dMULTIPLY0_331(Out[i], Rotation, v);
Out[i][0] += Position[0];
Out[i][1] += Position[1];
Out[i][2] += Position[2];
Out[i][3] = 0;
}
}
inline Matrix4x4& MakeMatrix(const dVector3 Position, const dMatrix3 Rotation, Matrix4x4& Out){
Out.m[0][0] = (float) Rotation[0];
Out.m[1][0] = (float) Rotation[1];
Out.m[2][0] = (float) Rotation[2];
Out.m[0][1] = (float) Rotation[4];
Out.m[1][1] = (float) Rotation[5];
Out.m[2][1] = (float) Rotation[6];
Out.m[0][2] = (float) Rotation[8];
Out.m[1][2] = (float) Rotation[9];
Out.m[2][2] = (float) Rotation[10];
Out.m[3][0] = (float) Position[0];
Out.m[3][1] = (float) Position[1];
Out.m[3][2] = (float) Position[2];
Out.m[0][3] = 0.0f;
Out.m[1][3] = 0.0f;
Out.m[2][3] = 0.0f;
Out.m[3][3] = 1.0f;
return Out;
}
inline Matrix4x4& MakeMatrix(dxGeom* g, Matrix4x4& Out){
const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
return MakeMatrix(Position, Rotation, Out);
}
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
inline void FetchTriangle(dxTriMesh* TriMesh, int Index, const dVector3 Position, const dMatrix3 Rotation, dVector3 Out[3]){
// why is this not implemented?
dAASSERT(false);
}
inline void MakeMatrix(const dVector3 Position, const dMatrix3 Rotation, mat4f m)
{
m[0][0] = (float) Rotation[0];
m[0][1] = (float) Rotation[1];
m[0][2] = (float) Rotation[2];
m[1][0] = (float) Rotation[4];
m[1][1] = (float) Rotation[5];
m[1][2] = (float) Rotation[6];
m[2][0] = (float) Rotation[8];
m[2][1] = (float) Rotation[9];
m[2][2] = (float) Rotation[10];
m[0][3] = (float) Position[0];
m[1][3] = (float) Position[1];
m[2][3] = (float) Position[2];
}
inline void MakeMatrix(dxGeom* g, mat4f Out){
const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
MakeMatrix(Position, Rotation, Out);
}
#endif // dTRIMESH_GIMPACT
// Outputs a matrix to 3 vectors
inline void Decompose(const dMatrix3 Matrix, dVector3 Right, dVector3 Up, dVector3 Direction){
Right[0] = Matrix[0 * 4 + 0];
Right[1] = Matrix[1 * 4 + 0];
Right[2] = Matrix[2 * 4 + 0];
Right[3] = REAL(0.0);
Up[0] = Matrix[0 * 4 + 1];
Up[1] = Matrix[1 * 4 + 1];
Up[2] = Matrix[2 * 4 + 1];
Up[3] = REAL(0.0);
Direction[0] = Matrix[0 * 4 + 2];
Direction[1] = Matrix[1 * 4 + 2];
Direction[2] = Matrix[2 * 4 + 2];
Direction[3] = REAL(0.0);
}
// Outputs a matrix to 3 vectors
inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){
Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]);
}
// Finds barycentric
inline void GetPointFromBarycentric(const dVector3 dv[3], dReal u, dReal v, dVector3 Out){
dReal w = REAL(1.0) - u - v;
Out[0] = (dv[0][0] * w) + (dv[1][0] * u) + (dv[2][0] * v);
Out[1] = (dv[0][1] * w) + (dv[1][1] * u) + (dv[2][1] * v);
Out[2] = (dv[0][2] * w) + (dv[1][2] * u) + (dv[2][2] * v);
Out[3] = (dv[0][3] * w) + (dv[1][3] * u) + (dv[2][3] * v);
}
// Performs a callback
inline bool Callback(dxTriMesh* TriMesh, dxGeom* Object, int TriIndex){
if (TriMesh->Callback != NULL){
return (TriMesh->Callback(TriMesh, Object, TriIndex)!=0);
}
else return true;
}
// Some utilities
template<class T> const T& dcMAX(const T& x, const T& y){
return x > y ? x : y;
}
template<class T> const T& dcMIN(const T& x, const T& y){
return x < y ? x : y;
}
dReal SqrDistancePointTri( const dVector3 p, const dVector3 triOrigin,
const dVector3 triEdge1, const dVector3 triEdge2,
dReal* pfSParam = 0, dReal* pfTParam = 0 );
dReal SqrDistanceSegments( const dVector3 seg1Origin, const dVector3 seg1Direction,
const dVector3 seg2Origin, const dVector3 seg2Direction,
dReal* pfSegP0 = 0, dReal* pfSegP1 = 0 );
dReal SqrDistanceSegTri( const dVector3 segOrigin, const dVector3 segEnd,
const dVector3 triOrigin,
const dVector3 triEdge1, const dVector3 triEdge2,
dReal* t = 0, dReal* u = 0, dReal* v = 0 );
inline
void Vector3Subtract( const dVector3 left, const dVector3 right, dVector3 result )
{
result[0] = left[0] - right[0];
result[1] = left[1] - right[1];
result[2] = left[2] - right[2];
result[3] = REAL(0.0);
}
inline
void Vector3Add( const dVector3 left, const dVector3 right, dVector3 result )
{
result[0] = left[0] + right[0];
result[1] = left[1] + right[1];
result[2] = left[2] + right[2];
result[3] = REAL(0.0);
}
inline
void Vector3Negate( const dVector3 in, dVector3 out )
{
out[0] = -in[0];
out[1] = -in[1];
out[2] = -in[2];
out[3] = REAL(0.0);
}
inline
void Vector3Copy( const dVector3 in, dVector3 out )
{
out[0] = in[0];
out[1] = in[1];
out[2] = in[2];
out[3] = REAL(0.0);
}
inline
void Vector3Multiply( const dVector3 in, dReal scalar, dVector3 out )
{
out[0] = in[0] * scalar;
out[1] = in[1] * scalar;
out[2] = in[2] * scalar;
out[3] = REAL(0.0);
}
inline
void TransformVector3( const dVector3 in,
const dMatrix3 orientation, const dVector3 position,
dVector3 out )
{
dMULTIPLY0_331( out, orientation, in );
out[0] += position[0];
out[1] += position[1];
out[2] += position[2];
}
//------------------------------------------------------------------------------
/**
@brief Check for intersection between triangle and capsule.
@param dist [out] Shortest distance squared between the triangle and
the capsule segment (central axis).
@param t [out] t value of point on segment that's the shortest distance
away from the triangle, the coordinates of this point
can be found by (cap.seg.end - cap.seg.start) * t,
or cap.seg.ipol(t).
@param u [out] Barycentric coord on triangle.
@param v [out] Barycentric coord on triangle.
@return True if intersection exists.
The third Barycentric coord is implicit, ie. w = 1.0 - u - v
The Barycentric coords give the location of the point on the triangle
closest to the capsule (where the distance between the two shapes
is the shortest).
*/
inline
bool IntersectCapsuleTri( const dVector3 segOrigin, const dVector3 segEnd,
const dReal radius, const dVector3 triOrigin,
const dVector3 triEdge0, const dVector3 triEdge1,
dReal* dist, dReal* t, dReal* u, dReal* v )
{
dReal sqrDist = SqrDistanceSegTri( segOrigin, segEnd, triOrigin, triEdge0, triEdge1,
t, u, v );
if ( dist )
*dist = sqrDist;
return ( sqrDist <= (radius * radius) );
}
#endif //TRIMESH_INTERNAL
#endif //_ODE_COLLISION_TRIMESH_INTERNAL_H_
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