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authordan miller2007-10-19 05:22:23 +0000
committerdan miller2007-10-19 05:22:23 +0000
commit1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 (patch)
tree51bcae7a1b8381a6bf6fd8025a7de1e30fe0045d /libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp
parentone more for the gipper (diff)
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trying to fix my screwup, please hold on
Diffstat (limited to 'libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp')
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diff --git a/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp b/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp
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@@ -1,653 +0,0 @@
1///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2/*
3 * OPCODE - Optimized Collision Detection
4 * Copyright (C) 2001 Pierre Terdiman
5 * Homepage: http://www.codercorner.com/Opcode.htm
6 */
7///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
8
9///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
10/**
11 * Contains code for a planes collider.
12 * \file OPC_PlanesCollider.cpp
13 * \author Pierre Terdiman
14 * \date January, 1st, 2002
15 */
16///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
17
18///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
19/**
20 * Contains a Planes-vs-tree collider.
21 *
22 * \class PlanesCollider
23 * \author Pierre Terdiman
24 * \version 1.3
25 * \date January, 1st, 2002
26*/
27///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
28
29///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
30// Precompiled Header
31#include "Stdafx.h"
32
33using namespace Opcode;
34
35#include "OPC_PlanesAABBOverlap.h"
36#include "OPC_PlanesTriOverlap.h"
37
38#define SET_CONTACT(prim_index, flag) \
39 /* Set contact status */ \
40 mFlags |= flag; \
41 mTouchedPrimitives->Add(udword(prim_index));
42
43//! Planes-triangle test
44#define PLANES_PRIM(prim_index, flag) \
45 /* Request vertices from the app */ \
46 mIMesh->GetTriangle(mVP, prim_index); \
47 /* Perform triangle-box overlap test */ \
48 if(PlanesTriOverlap(clip_mask)) \
49 { \
50 SET_CONTACT(prim_index, flag) \
51 }
52
53///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
54/**
55 * Constructor.
56 */
57///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
58PlanesCollider::PlanesCollider() :
59 mPlanes (null),
60 mNbPlanes (0)
61{
62}
63
64///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
65/**
66 * Destructor.
67 */
68///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
69PlanesCollider::~PlanesCollider()
70{
71 DELETEARRAY(mPlanes);
72}
73
74///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
75/**
76 * Validates current settings. You should call this method after all the settings and callbacks have been defined.
77 * \return null if everything is ok, else a string describing the problem
78 */
79///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
80const char* PlanesCollider::ValidateSettings()
81{
82 if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!";
83
84 return VolumeCollider::ValidateSettings();
85}
86
87///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
88/**
89 * Generic collision query for generic OPCODE models. After the call, access the results:
90 * - with GetContactStatus()
91 * - with GetNbTouchedPrimitives()
92 * - with GetTouchedPrimitives()
93 *
94 * \param cache [in/out] a planes cache
95 * \param planes [in] list of planes in world space
96 * \param nb_planes [in] number of planes
97 * \param model [in] Opcode model to collide with
98 * \param worldm [in] model's world matrix, or null
99 * \return true if success
100 * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
101 */
102///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
103bool PlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm)
104{
105 // Checkings
106 if(!Setup(&model)) return false;
107
108 // Init collision query
109 if(InitQuery(cache, planes, nb_planes, worldm)) return true;
110
111 udword PlaneMask = (1<<nb_planes)-1;
112
113 if(!model.HasLeafNodes())
114 {
115 if(model.IsQuantized())
116 {
117 const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
118
119 // Setup dequantization coeffs
120 mCenterCoeff = Tree->mCenterCoeff;
121 mExtentsCoeff = Tree->mExtentsCoeff;
122
123 // Perform collision query
124 if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
125 else _Collide(Tree->GetNodes(), PlaneMask);
126 }
127 else
128 {
129 const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
130
131 // Perform collision query
132 if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
133 else _Collide(Tree->GetNodes(), PlaneMask);
134 }
135 }
136 else
137 {
138 if(model.IsQuantized())
139 {
140 const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
141
142 // Setup dequantization coeffs
143 mCenterCoeff = Tree->mCenterCoeff;
144 mExtentsCoeff = Tree->mExtentsCoeff;
145
146 // Perform collision query
147 if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
148 else _Collide(Tree->GetNodes(), PlaneMask);
149 }
150 else
151 {
152 const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
153
154 // Perform collision query
155 if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
156 else _Collide(Tree->GetNodes(), PlaneMask);
157 }
158 }
159 return true;
160}
161
162///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
163/**
164 * Initializes a collision query :
165 * - reset stats & contact status
166 * - compute planes in model space
167 * - check temporal coherence
168 *
169 * \param cache [in/out] a planes cache
170 * \param planes [in] list of planes
171 * \param nb_planes [in] number of planes
172 * \param worldm [in] model's world matrix, or null
173 * \return TRUE if we can return immediately
174 * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only.
175 */
176///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
177BOOL PlanesCollider::InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm)
178{
179 // 1) Call the base method
180 VolumeCollider::InitQuery();
181
182 // 2) Compute planes in model space
183 if(nb_planes>mNbPlanes)
184 {
185 DELETEARRAY(mPlanes);
186 mPlanes = new Plane[nb_planes];
187 }
188 mNbPlanes = nb_planes;
189
190 if(worldm)
191 {
192 Matrix4x4 InvWorldM;
193 InvertPRMatrix(InvWorldM, *worldm);
194
195// for(udword i=0;i<nb_planes;i++) mPlanes[i] = planes[i] * InvWorldM;
196 for(udword i=0;i<nb_planes;i++) TransformPlane(mPlanes[i], planes[i], InvWorldM);
197 }
198 else CopyMemory(mPlanes, planes, nb_planes*sizeof(Plane));
199
200 // 3) Setup destination pointer
201 mTouchedPrimitives = &cache.TouchedPrimitives;
202
203 // 4) Special case: 1-triangle meshes [Opcode 1.3]
204 if(mCurrentModel && mCurrentModel->HasSingleNode())
205 {
206 if(!SkipPrimitiveTests())
207 {
208 // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
209 mTouchedPrimitives->Reset();
210
211 // Perform overlap test between the unique triangle and the planes (and set contact status if needed)
212 udword clip_mask = (1<<mNbPlanes)-1;
213 PLANES_PRIM(udword(0), OPC_CONTACT)
214
215 // Return immediately regardless of status
216 return TRUE;
217 }
218 }
219
220 // 4) Check temporal coherence:
221 if(TemporalCoherenceEnabled())
222 {
223 // Here we use temporal coherence
224 // => check results from previous frame before performing the collision query
225 if(FirstContactEnabled())
226 {
227 // We're only interested in the first contact found => test the unique previously touched face
228 if(mTouchedPrimitives->GetNbEntries())
229 {
230 // Get index of previously touched face = the first entry in the array
231 udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0);
232
233 // Then reset the array:
234 // - if the overlap test below is successful, the index we'll get added back anyway
235 // - if it isn't, then the array should be reset anyway for the normal query
236 mTouchedPrimitives->Reset();
237
238 // Perform overlap test between the cached triangle and the planes (and set contact status if needed)
239 udword clip_mask = (1<<mNbPlanes)-1;
240 PLANES_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)
241
242 // Return immediately if possible
243 if(GetContactStatus()) return TRUE;
244 }
245 // else no face has been touched during previous query
246 // => we'll have to perform a normal query
247 }
248 else mTouchedPrimitives->Reset();
249 }
250 else
251 {
252 // Here we don't use temporal coherence => do a normal query
253 mTouchedPrimitives->Reset();
254 }
255
256 return FALSE;
257}
258
259#define TEST_CLIP_MASK \
260 /* If the box is completely included, so are its children. We don't need to do extra tests, we */ \
261 /* can immediately output a list of visible children. Those ones won't need to be clipped. */ \
262 if(!OutClipMask) \
263 { \
264 /* Set contact status */ \
265 mFlags |= OPC_CONTACT; \
266 _Dump(node); \
267 return; \
268 }
269
270///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
271/**
272 * Recursive collision query for normal AABB trees.
273 * \param node [in] current collision node
274 */
275///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
276void PlanesCollider::_Collide(const AABBCollisionNode* node, udword clip_mask)
277{
278 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
279 udword OutClipMask;
280 if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
281
282 TEST_CLIP_MASK
283
284 // Else the box straddles one or several planes, so we need to recurse down the tree.
285 if(node->IsLeaf())
286 {
287 PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT)
288 }
289 else
290 {
291 _Collide(node->GetPos(), OutClipMask);
292
293 if(ContactFound()) return;
294
295 _Collide(node->GetNeg(), OutClipMask);
296 }
297}
298
299///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
300/**
301 * Recursive collision query for normal AABB trees.
302 * \param node [in] current collision node
303 */
304///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
305void PlanesCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask)
306{
307 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
308 udword OutClipMask;
309 if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
310
311 TEST_CLIP_MASK
312
313 // Else the box straddles one or several planes, so we need to recurse down the tree.
314 if(node->IsLeaf())
315 {
316 SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
317 }
318 else
319 {
320 _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
321
322 if(ContactFound()) return;
323
324 _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
325 }
326}
327
328///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
329/**
330 * Recursive collision query for quantized AABB trees.
331 * \param node [in] current collision node
332 */
333///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
334void PlanesCollider::_Collide(const AABBQuantizedNode* node, udword clip_mask)
335{
336 // Dequantize box
337 const QuantizedAABB& Box = node->mAABB;
338 const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
339 const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
340
341 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
342 udword OutClipMask;
343 if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
344
345 TEST_CLIP_MASK
346
347 // Else the box straddles one or several planes, so we need to recurse down the tree.
348 if(node->IsLeaf())
349 {
350 PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT)
351 }
352 else
353 {
354 _Collide(node->GetPos(), OutClipMask);
355
356 if(ContactFound()) return;
357
358 _Collide(node->GetNeg(), OutClipMask);
359 }
360}
361
362///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
363/**
364 * Recursive collision query for quantized AABB trees.
365 * \param node [in] current collision node
366 */
367///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
368void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask)
369{
370 // Dequantize box
371 const QuantizedAABB& Box = node->mAABB;
372 const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
373 const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
374
375 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
376 udword OutClipMask;
377 if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
378
379 TEST_CLIP_MASK
380
381 // Else the box straddles one or several planes, so we need to recurse down the tree.
382 if(node->IsLeaf())
383 {
384 SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
385 }
386 else
387 {
388 _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
389
390 if(ContactFound()) return;
391
392 _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
393 }
394}
395
396///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
397/**
398 * Recursive collision query for no-leaf AABB trees.
399 * \param node [in] current collision node
400 */
401///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
402void PlanesCollider::_Collide(const AABBNoLeafNode* node, udword clip_mask)
403{
404 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
405 udword OutClipMask;
406 if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
407
408 TEST_CLIP_MASK
409
410 // Else the box straddles one or several planes, so we need to recurse down the tree.
411 if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
412 else _Collide(node->GetPos(), OutClipMask);
413
414 if(ContactFound()) return;
415
416 if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
417 else _Collide(node->GetNeg(), OutClipMask);
418}
419
420///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
421/**
422 * Recursive collision query for no-leaf AABB trees.
423 * \param node [in] current collision node
424 */
425///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
426void PlanesCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask)
427{
428 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
429 udword OutClipMask;
430 if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return;
431
432 TEST_CLIP_MASK
433
434 // Else the box straddles one or several planes, so we need to recurse down the tree.
435 if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
436 else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
437
438 if(ContactFound()) return;
439
440 if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
441 else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
442}
443
444///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
445/**
446 * Recursive collision query for quantized no-leaf AABB trees.
447 * \param node [in] current collision node
448 */
449///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
450void PlanesCollider::_Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask)
451{
452 // Dequantize box
453 const QuantizedAABB& Box = node->mAABB;
454 const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
455 const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
456
457 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
458 udword OutClipMask;
459 if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
460
461 TEST_CLIP_MASK
462
463 // Else the box straddles one or several planes, so we need to recurse down the tree.
464 if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
465 else _Collide(node->GetPos(), OutClipMask);
466
467 if(ContactFound()) return;
468
469 if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
470 else _Collide(node->GetNeg(), OutClipMask);
471}
472
473///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
474/**
475 * Recursive collision query for quantized no-leaf AABB trees.
476 * \param node [in] current collision node
477 */
478///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
479void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask)
480{
481 // Dequantize box
482 const QuantizedAABB& Box = node->mAABB;
483 const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
484 const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
485
486 // Test the box against the planes. If the box is completely culled, so are its children, hence we exit.
487 udword OutClipMask;
488 if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return;
489
490 TEST_CLIP_MASK
491
492 // Else the box straddles one or several planes, so we need to recurse down the tree.
493 if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
494 else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask);
495
496 if(ContactFound()) return;
497
498 if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
499 else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask);
500}
501
502
503
504
505
506
507
508///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
509/**
510 * Constructor.
511 */
512///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
513HybridPlanesCollider::HybridPlanesCollider()
514{
515}
516
517///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
518/**
519 * Destructor.
520 */
521///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
522HybridPlanesCollider::~HybridPlanesCollider()
523{
524}
525
526bool HybridPlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm)
527{
528 // We don't want primitive tests here!
529 mFlags |= OPC_NO_PRIMITIVE_TESTS;
530
531 // Checkings
532 if(!Setup(&model)) return false;
533
534 // Init collision query
535 if(InitQuery(cache, planes, nb_planes, worldm)) return true;
536
537 // Special case for 1-leaf trees
538 if(mCurrentModel && mCurrentModel->HasSingleNode())
539 {
540 // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
541 udword Nb = mIMesh->GetNbTriangles();
542
543 // Loop through all triangles
544 udword clip_mask = (1<<mNbPlanes)-1;
545 for(udword i=0;i<Nb;i++)
546 {
547 PLANES_PRIM(i, OPC_CONTACT)
548 }
549 return true;
550 }
551
552 // Override destination array since we're only going to get leaf boxes here
553 mTouchedBoxes.Reset();
554 mTouchedPrimitives = &mTouchedBoxes;
555
556 udword PlaneMask = (1<<nb_planes)-1;
557
558 // Now, do the actual query against leaf boxes
559 if(!model.HasLeafNodes())
560 {
561 if(model.IsQuantized())
562 {
563 const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
564
565 // Setup dequantization coeffs
566 mCenterCoeff = Tree->mCenterCoeff;
567 mExtentsCoeff = Tree->mExtentsCoeff;
568
569 // Perform collision query - we don't want primitive tests here!
570 _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
571 }
572 else
573 {
574 const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
575
576 // Perform collision query - we don't want primitive tests here!
577 _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
578 }
579 }
580 else
581 {
582 if(model.IsQuantized())
583 {
584 const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
585
586 // Setup dequantization coeffs
587 mCenterCoeff = Tree->mCenterCoeff;
588 mExtentsCoeff = Tree->mExtentsCoeff;
589
590 // Perform collision query - we don't want primitive tests here!
591 _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
592 }
593 else
594 {
595 const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
596
597 // Perform collision query - we don't want primitive tests here!
598 _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask);
599 }
600 }
601
602 // We only have a list of boxes so far
603 if(GetContactStatus())
604 {
605 // Reset contact status, since it currently only reflects collisions with leaf boxes
606 Collider::InitQuery();
607
608 // Change dest container so that we can use built-in overlap tests and get collided primitives
609 cache.TouchedPrimitives.Reset();
610 mTouchedPrimitives = &cache.TouchedPrimitives;
611
612 // Read touched leaf boxes
613 udword Nb = mTouchedBoxes.GetNbEntries();
614 const udword* Touched = mTouchedBoxes.GetEntries();
615
616 const LeafTriangles* LT = model.GetLeafTriangles();
617 const udword* Indices = model.GetIndices();
618
619 // Loop through touched leaves
620 udword clip_mask = (1<<mNbPlanes)-1;
621 while(Nb--)
622 {
623 const LeafTriangles& CurrentLeaf = LT[*Touched++];
624
625 // Each leaf box has a set of triangles
626 udword NbTris = CurrentLeaf.GetNbTriangles();
627 if(Indices)
628 {
629 const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
630
631 // Loop through triangles and test each of them
632 while(NbTris--)
633 {
634 udword TriangleIndex = *T++;
635 PLANES_PRIM(TriangleIndex, OPC_CONTACT)
636 }
637 }
638 else
639 {
640 udword BaseIndex = CurrentLeaf.GetTriangleIndex();
641
642 // Loop through triangles and test each of them
643 while(NbTris--)
644 {
645 udword TriangleIndex = BaseIndex++;
646 PLANES_PRIM(TriangleIndex, OPC_CONTACT)
647 }
648 }
649 }
650 }
651
652 return true;
653}
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