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bluecore/ode/src/collision_trimesh_sphere.cpp

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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.
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>
#include "collision_util.h"
#if dTRIMESH_ENABLED
#define TRIMESH_INTERNAL
#include "collision_trimesh_internal.h"
#if dTRIMESH_OPCODE
#define MERGECONTACTS
// Ripped from Opcode 1.1.
static bool GetContactData(const dVector3& Center, dReal Radius, const dVector3 Origin, const dVector3 Edge0, const dVector3 Edge1, dReal& Dist, float& u, float& v){
// now onto the bulk of the collision...
dVector3 Diff;
Diff[0] = Origin[0] - Center[0];
Diff[1] = Origin[1] - Center[1];
Diff[2] = Origin[2] - Center[2];
Diff[3] = Origin[3] - Center[3];
float A00 = (float)dDOT(Edge0, Edge0);
float A01 = (float)dDOT(Edge0, Edge1);
float A11 = (float)dDOT(Edge1, Edge1);
float B0 = (float)dDOT(Diff, Edge0);
float B1 = (float)dDOT(Diff, Edge1);
float C = (float)dDOT(Diff, Diff);
float Det = (float)dFabs(A00 * A11 - A01 * A01);
u = A01 * B1 - A11 * B0;
v = A01 * B0 - A00 * B1;
dReal DistSq;
if (u + v <= Det){
if(u < REAL(0.0)){
if(v < REAL(0.0)){ // region 4
if(B0 < REAL(0.0)){
v = REAL(0.0);
if (-B0 >= A00){
u = REAL(1.0);
DistSq = A00 + REAL(2.0) * B0 + C;
}
else{
u = -B0 / A00;
DistSq = B0 * u + C;
}
}
else{
u = REAL(0.0);
if(B1 >= REAL(0.0)){
v = REAL(0.0);
DistSq = C;
}
else if(-B1 >= A11){
v = REAL(1.0);
DistSq = A11 + REAL(2.0) * B1 + C;
}
else{
v = -B1 / A11;
DistSq = B1 * v + C;
}
}
}
else{ // region 3
u = REAL(0.0);
if(B1 >= REAL(0.0)){
v = REAL(0.0);
DistSq = C;
}
else if(-B1 >= A11){
v = REAL(1.0);
DistSq = A11 + REAL(2.0) * B1 + C;
}
else{
v = -B1 / A11;
DistSq = B1 * v + C;
}
}
}
else if(v < REAL(0.0)){ // region 5
v = REAL(0.0);
if (B0 >= REAL(0.0)){
u = REAL(0.0);
DistSq = C;
}
else if (-B0 >= A00){
u = REAL(1.0);
DistSq = A00 + REAL(2.0) * B0 + C;
}
else{
u = -B0 / A00;
DistSq = B0 * u + C;
}
}
else{ // region 0
// minimum at interior point
if (Det == REAL(0.0)){
u = REAL(0.0);
v = REAL(0.0);
DistSq = FLT_MAX;
}
else{
dReal InvDet = REAL(1.0) / Det;
u *= InvDet;
v *= InvDet;
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
}
}
}
else{
dReal Tmp0, Tmp1, Numer, Denom;
if(u < REAL(0.0)){ // region 2
Tmp0 = A01 + B0;
Tmp1 = A11 + B1;
if (Tmp1 > Tmp0){
Numer = Tmp1 - Tmp0;
Denom = A00 - REAL(2.0) * A01 + A11;
if (Numer >= Denom){
u = REAL(1.0);
v = REAL(0.0);
DistSq = A00 + REAL(2.0) * B0 + C;
}
else{
u = Numer / Denom;
v = REAL(1.0) - u;
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
}
}
else{
u = REAL(0.0);
if(Tmp1 <= REAL(0.0)){
v = REAL(1.0);
DistSq = A11 + REAL(2.0) * B1 + C;
}
else if(B1 >= REAL(0.0)){
v = REAL(0.0);
DistSq = C;
}
else{
v = -B1 / A11;
DistSq = B1 * v + C;
}
}
}
else if(v < REAL(0.0)){ // region 6
Tmp0 = A01 + B1;
Tmp1 = A00 + B0;
if (Tmp1 > Tmp0){
Numer = Tmp1 - Tmp0;
Denom = A00 - REAL(2.0) * A01 + A11;
if (Numer >= Denom){
v = REAL(1.0);
u = REAL(0.0);
DistSq = A11 + REAL(2.0) * B1 + C;
}
else{
v = Numer / Denom;
u = REAL(1.0) - v;
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
}
}
else{
v = REAL(0.0);
if (Tmp1 <= REAL(0.0)){
u = REAL(1.0);
DistSq = A00 + REAL(2.0) * B0 + C;
}
else if(B0 >= REAL(0.0)){
u = REAL(0.0);
DistSq = C;
}
else{
u = -B0 / A00;
DistSq = B0 * u + C;
}
}
}
else{ // region 1
Numer = A11 + B1 - A01 - B0;
if (Numer <= REAL(0.0)){
u = REAL(0.0);
v = REAL(1.0);
DistSq = A11 + REAL(2.0) * B1 + C;
}
else{
Denom = A00 - REAL(2.0) * A01 + A11;
if (Numer >= Denom){
u = REAL(1.0);
v = REAL(0.0);
DistSq = A00 + REAL(2.0) * B0 + C;
}
else{
u = Numer / Denom;
v = REAL(1.0) - u;
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
}
}
}
}
Dist = dSqrt(dFabs(DistSq));
if (Dist <= Radius){
Dist = Radius - Dist;
return true;
}
else return false;
}
int dCollideSTL(dxGeom* g1, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){
dxTriMesh* TriMesh = (dxTriMesh*)g1;
// Init
const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
SphereCollider& Collider = TriMesh->_SphereCollider;
const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom);
dReal Radius = dGeomSphereGetRadius(SphereGeom);
// Sphere
Sphere Sphere;
Sphere.mCenter.x = Position[0];
Sphere.mCenter.y = Position[1];
Sphere.mCenter.z = Position[2];
Sphere.mRadius = Radius;
Matrix4x4 amatrix;
// TC results
if (TriMesh->doSphereTC) {
dxTriMesh::SphereTC* sphereTC = 0;
for (int i = 0; i < TriMesh->SphereTCCache.size(); i++){
if (TriMesh->SphereTCCache[i].Geom == SphereGeom){
sphereTC = &TriMesh->SphereTCCache[i];
break;
}
}
if (!sphereTC){
TriMesh->SphereTCCache.push(dxTriMesh::SphereTC());
sphereTC = &TriMesh->SphereTCCache[TriMesh->SphereTCCache.size() - 1];
sphereTC->Geom = SphereGeom;
}
// Intersect
Collider.SetTemporalCoherence(true);
Collider.Collide(*sphereTC, Sphere, TriMesh->Data->BVTree, null,
&MakeMatrix(TLPosition, TLRotation, amatrix));
}
else {
Collider.SetTemporalCoherence(false);
Collider.Collide(dxTriMesh::defaultSphereCache, Sphere, TriMesh->Data->BVTree, null,
&MakeMatrix(TLPosition, TLRotation, amatrix));
}
if (! Collider.GetContactStatus()) {
// no collision occurred
return 0;
}
// get results
int TriCount = Collider.GetNbTouchedPrimitives();
const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
if (TriCount != 0){
if (TriMesh->ArrayCallback != null){
TriMesh->ArrayCallback(TriMesh, SphereGeom, Triangles, TriCount);
}
int OutTriCount = 0;
for (int i = 0; i < TriCount; i++){
if (OutTriCount == (Flags & 0xffff)){
break;
}
const int& TriIndex = Triangles[i];
dVector3 dv[3];
if (!Callback(TriMesh, SphereGeom, TriIndex))
continue;
FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
dVector3& v0 = dv[0];
dVector3& v1 = dv[1];
dVector3& v2 = dv[2];
dVector3 vu;
vu[0] = v1[0] - v0[0];
vu[1] = v1[1] - v0[1];
vu[2] = v1[2] - v0[2];
vu[3] = REAL(0.0);
dVector3 vv;
vv[0] = v2[0] - v0[0];
vv[1] = v2[1] - v0[1];
vv[2] = v2[2] - v0[2];
vv[3] = REAL(0.0);
// Get plane coefficients
dVector4 Plane;
dCROSS(Plane, =, vu, vv);
dReal Area = dSqrt(dDOT(Plane, Plane)); // We can use this later
Plane[0] /= Area;
Plane[1] /= Area;
Plane[2] /= Area;
Plane[3] = dDOT(Plane, v0);
/* If the center of the sphere is within the positive halfspace of the
* triangle's plane, allow a contact to be generated.
* If the center of the sphere made it into the positive halfspace of a
* back-facing triangle, then the physics update and/or velocity needs
* to be adjusted (penetration has occured anyway).
*/
float side = dDOT(Plane,Position) - Plane[3];
if(side < 0.0f) {
continue;
}
dReal Depth;
float u, v;
if (!GetContactData(Position, Radius, v0, vu, vv, Depth, u, v)){
continue; // Sphere doesnt hit triangle
}
if (Depth < REAL(0.0)){
Depth = REAL(0.0);
}
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
dReal w = REAL(1.0) - u - v;
Contact->pos[0] = (v0[0] * w) + (v1[0] * u) + (v2[0] * v);
Contact->pos[1] = (v0[1] * w) + (v1[1] * u) + (v2[1] * v);
Contact->pos[2] = (v0[2] * w) + (v1[2] * u) + (v2[2] * v);
Contact->pos[3] = REAL(0.0);
// Using normal as plane (reversed)
Contact->normal[0] = -Plane[0];
Contact->normal[1] = -Plane[1];
Contact->normal[2] = -Plane[2];
Contact->normal[3] = REAL(0.0);
// Depth returned from GetContactData is depth along
// contact point - sphere center direction
// we'll project it to contact normal
dVector3 dir;
dir[0] = Position[0]-Contact->pos[0];
dir[1] = Position[1]-Contact->pos[1];
dir[2] = Position[2]-Contact->pos[2];
dReal dirProj = dDOT(dir, Plane) / dSqrt(dDOT(dir, dir));
Contact->depth = Depth * dirProj;
//Contact->depth = Radius - side; // (mg) penetration depth is distance along normal not shortest distance
Contact->side1 = TriIndex;
//Contact->g1 = TriMesh;
//Contact->g2 = SphereGeom;
OutTriCount++;
}
#ifdef MERGECONTACTS // Merge all contacts into 1
if (OutTriCount != 0){
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, 0, Stride);
if (OutTriCount != 1){
Contact->normal[0] *= Contact->depth;
Contact->normal[1] *= Contact->depth;
Contact->normal[2] *= Contact->depth;
Contact->normal[3] *= Contact->depth;
for (int i = 1; i < OutTriCount; i++){
dContactGeom* TempContact = SAFECONTACT(Flags, Contacts, i, Stride);
Contact->pos[0] += TempContact->pos[0];
Contact->pos[1] += TempContact->pos[1];
Contact->pos[2] += TempContact->pos[2];
Contact->pos[3] += TempContact->pos[3];
Contact->normal[0] += TempContact->normal[0] * TempContact->depth;
Contact->normal[1] += TempContact->normal[1] * TempContact->depth;
Contact->normal[2] += TempContact->normal[2] * TempContact->depth;
Contact->normal[3] += TempContact->normal[3] * TempContact->depth;
}
Contact->pos[0] /= OutTriCount;
Contact->pos[1] /= OutTriCount;
Contact->pos[2] /= OutTriCount;
Contact->pos[3] /= OutTriCount;
// Remember to divide in square space.
Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal) / OutTriCount);
dNormalize3(Contact->normal);
}
Contact->g1 = TriMesh;
Contact->g2 = SphereGeom;
// TODO:
// Side1 now contains index of triangle that gave first hit
// Probably we should find index of triangle with deepest penetration
return 1;
}
else return 0;
#elif defined MERGECONTACTNORMALS // Merge all normals, and distribute between all contacts
if (OutTriCount != 0){
if (OutTriCount != 1){
dVector3& Normal = SAFECONTACT(Flags, Contacts, 0, Stride)->normal;
Normal[0] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
Normal[1] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
Normal[2] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
Normal[3] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
for (int i = 1; i < OutTriCount; i++){
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
Normal[0] += Contact->normal[0] * Contact->depth;
Normal[1] += Contact->normal[1] * Contact->depth;
Normal[2] += Contact->normal[2] * Contact->depth;
Normal[3] += Contact->normal[3] * Contact->depth;
}
dNormalize3(Normal);
for (int i = 1; i < OutTriCount; i++){
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
Contact->normal[0] = Normal[0];
Contact->normal[1] = Normal[1];
Contact->normal[2] = Normal[2];
Contact->normal[3] = Normal[3];
Contact->g1 = TriMesh;
Contact->g2 = SphereGeom;
}
}
else{
SAFECONTACT(Flags, Contacts, 0, Stride)->g1 = TriMesh;
SAFECONTACT(Flags, Contacts, 0, Stride)->g2 = SphereGeom;
}
return OutTriCount;
}
else return 0;
#else //MERGECONTACTNORMALS // Just gather penetration depths and return
for (int i = 0; i < OutTriCount; i++){
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
//Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal));
/*Contact->normal[0] /= Contact->depth;
Contact->normal[1] /= Contact->depth;
Contact->normal[2] /= Contact->depth;
Contact->normal[3] /= Contact->depth;*/
Contact->g1 = TriMesh;
Contact->g2 = SphereGeom;
}
return OutTriCount;
#endif // MERGECONTACTS
}
else return 0;
}
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
int dCollideSTL(dxGeom* g1, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride)
{
dxTriMesh* TriMesh = (dxTriMesh*)g1;
dVector3& Position = *(dVector3*)dGeomGetPosition(SphereGeom);
dReal Radius = dGeomSphereGetRadius(SphereGeom);
//Create contact list
GDYNAMIC_ARRAY trimeshcontacts;
GIM_CREATE_CONTACT_LIST(trimeshcontacts);
//Collide trimeshes
gim_trimesh_sphere_collision(&TriMesh->m_collision_trimesh,Position,Radius,&trimeshcontacts);
if(trimeshcontacts.m_size == 0)
{
GIM_DYNARRAY_DESTROY(trimeshcontacts);
return 0;
}
GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);
dContactGeom* pcontact;
int contactcount = 0;
unsigned i;
for (i=0;i<trimeshcontacts.m_size;i++)
{
if(contactcount < (Flags & 0xffff))
{
pcontact = SAFECONTACT(Flags, Contacts, contactcount, Stride);
contactcount++;
pcontact->pos[0] = ptrimeshcontacts->m_point[0];
pcontact->pos[1] = ptrimeshcontacts->m_point[1];
pcontact->pos[2] = ptrimeshcontacts->m_point[2];
pcontact->pos[3] = 1.0f;
pcontact->normal[0] = ptrimeshcontacts->m_normal[0];
pcontact->normal[1] = ptrimeshcontacts->m_normal[1];
pcontact->normal[2] = ptrimeshcontacts->m_normal[2];
pcontact->normal[3] = 0;
pcontact->depth = ptrimeshcontacts->m_depth;
pcontact->g1 = g1;
pcontact->g2 = SphereGeom;
}
ptrimeshcontacts++;
}
GIM_DYNARRAY_DESTROY(trimeshcontacts);
return contactcount;
}
#endif // dTRIMESH_GIMPACT
#endif // dTRIMESH_ENABLED
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