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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. *
* *
*************************************************************************/
/*
stuff common to all spaces
*/
#ifndef _ODE_COLLISION_SPACE_INTERNAL_H_
#define _ODE_COLLISION_SPACE_INTERNAL_H_
#define ALLOCA(x) dALLOCA16(x)
#define CHECK_NOT_LOCKED(space) \
dUASSERT ((space)==0 || (space)->lock_count==0, \
"invalid operation for locked space");
// collide two geoms together. for the hash table space, this is
// called if the two AABBs inhabit the same hash table cells.
// this only calls the callback function if the AABBs actually
// intersect. if a geom has an AABB test function, that is called to
// provide a further refinement of the intersection.
//
// NOTE: this assumes that the geom AABBs are valid on entry
// and that both geoms are enabled.
static void collideAABBs (dxGeom *g1, dxGeom *g2,
void *data, dNearCallback *callback)
{
dIASSERT((g1->gflags & GEOM_AABB_BAD)==0);
dIASSERT((g2->gflags & GEOM_AABB_BAD)==0);
// no contacts if both geoms on the same body, and the body is not 0
if (g1->body == g2->body && g1->body) return;
// test if the category and collide bitfields match
if ( ((g1->category_bits & g2->collide_bits) ||
(g2->category_bits & g1->collide_bits)) == 0) {
return;
}
// if the bounding boxes are disjoint then don't do anything
dReal *bounds1 = g1->aabb;
dReal *bounds2 = g2->aabb;
if (bounds1[0] > bounds2[1] ||
bounds1[1] < bounds2[0] ||
bounds1[2] > bounds2[3] ||
bounds1[3] < bounds2[2] ||
bounds1[4] > bounds2[5] ||
bounds1[5] < bounds2[4]) {
return;
}
// check if either object is able to prove that it doesn't intersect the
// AABB of the other
if (g1->AABBTest (g2,bounds2) == 0) return;
if (g2->AABBTest (g1,bounds1) == 0) return;
// the objects might actually intersect - call the space callback function
callback (data,g1,g2);
}
#endif
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