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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23/*
24
25geom transform
26
27*/
28
29#include <ode/collision.h>
30#include <ode/matrix.h>
31#include <ode/rotation.h>
32#include <ode/odemath.h>
33#include "collision_transform.h"
34#include "collision_util.h"
35
36#ifdef _MSC_VER
37#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
38#endif
39
40//****************************************************************************
41// dxGeomTransform class
42
43struct dxGeomTransform : public dxGeom {
44 dxGeom *obj; // object that is being transformed
45 int cleanup; // 1 to destroy obj when destroyed
46 int infomode; // 1 to put Tx geom in dContactGeom g1
47
48 // cached final object transform (body tx + relative tx). this is set by
49 // computeAABB(), and it is valid while the AABB is valid.
50 dxPosR transform_posr;
51
52 dxGeomTransform (dSpaceID space);
53 ~dxGeomTransform();
54 void computeAABB();
55 void computeFinalTx();
56};
57/*
58void RunMe()
59{
60 printf("sizeof body = %i\n", sizeof(dxBody));
61 printf("sizeof geom = %i\n", sizeof(dxGeom));
62 printf("sizeof geomtransform = %i\n", sizeof(dxGeomTransform));
63 printf("sizeof posr = %i\n", sizeof(dxPosR));
64}
65*/
66
67dxGeomTransform::dxGeomTransform (dSpaceID space) : dxGeom (space,1)
68{
69 type = dGeomTransformClass;
70 obj = 0;
71 cleanup = 0;
72 infomode = 0;
73 dSetZero (transform_posr.pos,4);
74 dRSetIdentity (transform_posr.R);
75}
76
77
78dxGeomTransform::~dxGeomTransform()
79{
80 if (obj && cleanup) delete obj;
81}
82
83
84void dxGeomTransform::computeAABB()
85{
86 if (!obj) {
87 dSetZero (aabb,6);
88 return;
89 }
90
91 // backup the relative pos and R pointers of the encapsulated geom object
92 dxPosR* posr_bak = obj->final_posr;
93
94 // compute temporary pos and R for the encapsulated geom object
95 computeFinalTx();
96 obj->final_posr = &transform_posr;
97
98 // compute the AABB
99 obj->computeAABB();
100 memcpy (aabb,obj->aabb,6*sizeof(dReal));
101
102 // restore the pos and R
103 obj->final_posr = posr_bak;
104}
105
106
107// utility function for dCollideTransform() : compute final pos and R
108// for the encapsulated geom object
109
110void dxGeomTransform::computeFinalTx()
111{
112 dMULTIPLY0_331 (transform_posr.pos,final_posr->R,obj->final_posr->pos);
113 transform_posr.pos[0] += final_posr->pos[0];
114 transform_posr.pos[1] += final_posr->pos[1];
115 transform_posr.pos[2] += final_posr->pos[2];
116 dMULTIPLY0_333 (transform_posr.R,final_posr->R,obj->final_posr->R);
117}
118
119//****************************************************************************
120// collider function:
121// this collides a transformed geom with another geom. the other geom can
122// also be a transformed geom, but this case is not handled specially.
123
124int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
125 dContactGeom *contact, int skip)
126{
127 dIASSERT (skip >= (int)sizeof(dContactGeom));
128 dIASSERT (o1->type == dGeomTransformClass);
129
130 dxGeomTransform *tr = (dxGeomTransform*) o1;
131 if (!tr->obj) return 0;
132 dUASSERT (tr->obj->parent_space==0,
133 "GeomTransform encapsulated object must not be in a space");
134 dUASSERT (tr->obj->body==0,
135 "GeomTransform encapsulated object must not be attached "
136 "to a body");
137
138 // backup the relative pos and R pointers of the encapsulated geom object,
139 // and the body pointer
140 dxPosR *posr_bak = tr->obj->final_posr;
141 dxBody *bodybak = tr->obj->body;
142
143 // compute temporary pos and R for the encapsulated geom object.
144 // note that final_pos and final_R are valid if no GEOM_AABB_BAD flag,
145 // because computeFinalTx() will have already been called in
146 // dxGeomTransform::computeAABB()
147
148 if (tr->gflags & GEOM_AABB_BAD) tr->computeFinalTx();
149 tr->obj->final_posr = &tr->transform_posr;
150 tr->obj->body = o1->body;
151
152 // do the collision
153 int n = dCollide (tr->obj,o2,flags,contact,skip);
154
155 // if required, adjust the 'g1' values in the generated contacts so that
156 // thay indicated the GeomTransform object instead of the encapsulated
157 // object.
158 if (tr->infomode) {
159 for (int i=0; i<n; i++) {
160 dContactGeom *c = CONTACT(contact,skip*i);
161 c->g1 = o1;
162 }
163 }
164
165 // restore the pos, R and body
166 tr->obj->final_posr = posr_bak;
167 tr->obj->body = bodybak;
168 return n;
169}
170
171//****************************************************************************
172// public API
173
174dGeomID dCreateGeomTransform (dSpaceID space)
175{
176 return new dxGeomTransform (space);
177}
178
179
180void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
181{
182 dUASSERT (g && g->type == dGeomTransformClass,
183 "argument not a geom transform");
184 dxGeomTransform *tr = (dxGeomTransform*) g;
185 if (tr->obj && tr->cleanup) delete tr->obj;
186 tr->obj = obj;
187}
188
189
190dGeomID dGeomTransformGetGeom (dGeomID g)
191{
192 dUASSERT (g && g->type == dGeomTransformClass,
193 "argument not a geom transform");
194 dxGeomTransform *tr = (dxGeomTransform*) g;
195 return tr->obj;
196}
197
198
199void dGeomTransformSetCleanup (dGeomID g, int mode)
200{
201 dUASSERT (g && g->type == dGeomTransformClass,
202 "argument not a geom transform");
203 dxGeomTransform *tr = (dxGeomTransform*) g;
204 tr->cleanup = mode;
205}
206
207
208int dGeomTransformGetCleanup (dGeomID g)
209{
210 dUASSERT (g && g->type == dGeomTransformClass,
211 "argument not a geom transform");
212 dxGeomTransform *tr = (dxGeomTransform*) g;
213 return tr->cleanup;
214}
215
216
217void dGeomTransformSetInfo (dGeomID g, int mode)
218{
219 dUASSERT (g && g->type == dGeomTransformClass,
220 "argument not a geom transform");
221 dxGeomTransform *tr = (dxGeomTransform*) g;
222 tr->infomode = mode;
223}
224
225
226int dGeomTransformGetInfo (dGeomID g)
227{
228 dUASSERT (g && g->type == dGeomTransformClass,
229 "argument not a geom transform");
230 dxGeomTransform *tr = (dxGeomTransform*) g;
231 return tr->infomode;
232}
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