one more for the gipper

1 files changed, 653 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp b/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp
new file mode 100644
index 0000000..60d7f9c
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp
@@ -0,0 +1,653 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *      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;
+}