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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
* *
*************************************************************************/
/*
geom transform
*/
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>
#include "collision_transform.h"
#include "collision_util.h"
#ifdef _MSC_VER
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
#endif
//****************************************************************************
// dxGeomTransform class
struct dxGeomTransform : public dxGeom {
dxGeom *obj; // object that is being transformed
int cleanup; // 1 to destroy obj when destroyed
int infomode; // 1 to put Tx geom in dContactGeom g1
// cached final object transform (body tx + relative tx). this is set by
// computeAABB(), and it is valid while the AABB is valid.
dxPosR transform_posr;
dxGeomTransform (dSpaceID space);
~dxGeomTransform();
void computeAABB();
void computeFinalTx();
};
/*
void RunMe()
{
printf("sizeof body = %i\n", sizeof(dxBody));
printf("sizeof geom = %i\n", sizeof(dxGeom));
printf("sizeof geomtransform = %i\n", sizeof(dxGeomTransform));
printf("sizeof posr = %i\n", sizeof(dxPosR));
}
*/
dxGeomTransform::dxGeomTransform (dSpaceID space) : dxGeom (space,1)
{
type = dGeomTransformClass;
obj = 0;
cleanup = 0;
infomode = 0;
dSetZero (transform_posr.pos,4);
dRSetIdentity (transform_posr.R);
}
dxGeomTransform::~dxGeomTransform()
{
if (obj && cleanup) delete obj;
}
void dxGeomTransform::computeAABB()
{
if (!obj) {
dSetZero (aabb,6);
return;
}
// backup the relative pos and R pointers of the encapsulated geom object
dxPosR* posr_bak = obj->final_posr;
// compute temporary pos and R for the encapsulated geom object
computeFinalTx();
obj->final_posr = &transform_posr;
// compute the AABB
obj->computeAABB();
memcpy (aabb,obj->aabb,6*sizeof(dReal));
// restore the pos and R
obj->final_posr = posr_bak;
}
// utility function for dCollideTransform() : compute final pos and R
// for the encapsulated geom object
void dxGeomTransform::computeFinalTx()
{
dMULTIPLY0_331 (transform_posr.pos,final_posr->R,obj->final_posr->pos);
transform_posr.pos[0] += final_posr->pos[0];
transform_posr.pos[1] += final_posr->pos[1];
transform_posr.pos[2] += final_posr->pos[2];
dMULTIPLY0_333 (transform_posr.R,final_posr->R,obj->final_posr->R);
}
//****************************************************************************
// collider function:
// this collides a transformed geom with another geom. the other geom can
// also be a transformed geom, but this case is not handled specially.
int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dGeomTransformClass);
dxGeomTransform *tr = (dxGeomTransform*) o1;
if (!tr->obj) return 0;
dUASSERT (tr->obj->parent_space==0,
"GeomTransform encapsulated object must not be in a space");
dUASSERT (tr->obj->body==0,
"GeomTransform encapsulated object must not be attached "
"to a body");
// backup the relative pos and R pointers of the encapsulated geom object,
// and the body pointer
dxPosR *posr_bak = tr->obj->final_posr;
dxBody *bodybak = tr->obj->body;
// compute temporary pos and R for the encapsulated geom object.
// note that final_pos and final_R are valid if no GEOM_AABB_BAD flag,
// because computeFinalTx() will have already been called in
// dxGeomTransform::computeAABB()
if (tr->gflags & GEOM_AABB_BAD) tr->computeFinalTx();
tr->obj->final_posr = &tr->transform_posr;
tr->obj->body = o1->body;
// do the collision
int n = dCollide (tr->obj,o2,flags,contact,skip);
// if required, adjust the 'g1' values in the generated contacts so that
// thay indicated the GeomTransform object instead of the encapsulated
// object.
if (tr->infomode) {
for (int i=0; i<n; i++) {
dContactGeom *c = CONTACT(contact,skip*i);
c->g1 = o1;
}
}
// restore the pos, R and body
tr->obj->final_posr = posr_bak;
tr->obj->body = bodybak;
return n;
}
//****************************************************************************
// public API
dGeomID dCreateGeomTransform (dSpaceID space)
{
return new dxGeomTransform (space);
}
void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
if (tr->obj && tr->cleanup) delete tr->obj;
tr->obj = obj;
}
dGeomID dGeomTransformGetGeom (dGeomID g)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
return tr->obj;
}
void dGeomTransformSetCleanup (dGeomID g, int mode)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
tr->cleanup = mode;
}
int dGeomTransformGetCleanup (dGeomID g)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
return tr->cleanup;
}
void dGeomTransformSetInfo (dGeomID g, int mode)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
tr->infomode = mode;
}
int dGeomTransformGetInfo (dGeomID g)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
return tr->infomode;
}
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