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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. *
* *
*************************************************************************/
// TriMesh - Plane collider by David Walters, July 2006
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>
#if dTRIMESH_ENABLED
#include "collision_util.h"
#include "collision_std.h"
#define TRIMESH_INTERNAL
#include "collision_trimesh_internal.h"
#if dTRIMESH_OPCODE
int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip )
{
dIASSERT( skip >= (int)sizeof( dContactGeom ) );
dIASSERT( o1->type == dTriMeshClass );
dIASSERT( o2->type == dPlaneClass );
dIASSERT ((flags & NUMC_MASK) >= 1);
// Alias pointers to the plane and trimesh
dxTriMesh* trimesh = (dxTriMesh*)( o1 );
dxPlane* plane = (dxPlane*)( o2 );
int contact_count = 0;
// Cache the maximum contact count.
const int contact_max = ( flags & NUMC_MASK );
// Cache trimesh position and rotation.
const dVector3& trimesh_pos = *(const dVector3*)dGeomGetPosition( trimesh );
const dMatrix3& trimesh_R = *(const dMatrix3*)dGeomGetRotation( trimesh );
//
// For all triangles.
//
// Cache the triangle count.
const int tri_count = trimesh->Data->Mesh.GetNbTriangles();
VertexPointers VP;
dReal alpha;
dVector3 vertex;
#if !defined(dSINGLE) || 1
dVector3 int_vertex; // Intermediate vertex for double precision mode.
#endif // dSINGLE
// For each triangle
for ( int t = 0; t < tri_count; ++t )
{
// Get triangle, which should also use callback.
trimesh->Data->Mesh.GetTriangle( VP, t );
// For each vertex.
for ( int v = 0; v < 3; ++v )
{
//
// Get Vertex
//
#if defined(dSINGLE) && 0 // Always assign via intermediate array as otherwise it is an incapsulation violation
dMULTIPLY0_331( vertex, trimesh_R, (float*)( VP.Vertex[ v ] ) );
#else // dDOUBLE || 1
// OPCODE data is in single precision format.
int_vertex[ 0 ] = VP.Vertex[ v ]->x;
int_vertex[ 1 ] = VP.Vertex[ v ]->y;
int_vertex[ 2 ] = VP.Vertex[ v ]->z;
dMULTIPLY0_331( vertex, trimesh_R, int_vertex );
#endif // dSINGLE/dDOUBLE
vertex[ 0 ] += trimesh_pos[ 0 ];
vertex[ 1 ] += trimesh_pos[ 1 ];
vertex[ 2 ] += trimesh_pos[ 2 ];
//
// Collision?
//
// If alpha < 0 then point is if front of plane. i.e. no contact
// If alpha = 0 then the point is on the plane
alpha = plane->p[ 3 ] - dDOT( plane->p, vertex );
// If alpha > 0 the point is behind the plane. CONTACT!
if ( alpha > 0 )
{
// Alias the contact
dContactGeom* contact = SAFECONTACT( flags, contacts, contact_count, skip );
contact->pos[ 0 ] = vertex[ 0 ];
contact->pos[ 1 ] = vertex[ 1 ];
contact->pos[ 2 ] = vertex[ 2 ];
contact->normal[ 0 ] = plane->p[ 0 ];
contact->normal[ 1 ] = plane->p[ 1 ];
contact->normal[ 2 ] = plane->p[ 2 ];
contact->depth = alpha;
contact->g1 = plane;
contact->g2 = trimesh;
++contact_count;
// All contact slots are full?
if ( contact_count >= contact_max )
return contact_count; // <=== STOP HERE
}
}
}
// Return contact count.
return contact_count;
}
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip )
{
dIASSERT( skip >= (int)sizeof( dContactGeom ) );
dIASSERT( o1->type == dTriMeshClass );
dIASSERT( o2->type == dPlaneClass );
dIASSERT ((flags & NUMC_MASK) >= 1);
// Alias pointers to the plane and trimesh
dxTriMesh* trimesh = (dxTriMesh*)( o1 );
vec4f plane;
dGeomPlaneGetParams(o2, plane);
//Find collision
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_TRIMESHPLANE_CONTACTS(collision_result);
gim_trimesh_plane_collision(&trimesh->m_collision_trimesh,plane,&collision_result);
if(collision_result.m_size == 0 )
{
GIM_DYNARRAY_DESTROY(collision_result);
return 0;
}
unsigned int contactcount = collision_result.m_size;
unsigned int contactmax = (unsigned int)(flags & NUMC_MASK);
if (contactcount > contactmax)
{
contactcount = contactmax;
}
dContactGeom* pcontact;
vec4f * planecontact_results = GIM_DYNARRAY_POINTER(vec4f,collision_result);
for(unsigned int i = 0; i < contactcount; i++ )
{
pcontact = SAFECONTACT(flags, contacts, i, skip);
pcontact->pos[0] = (*planecontact_results)[0];
pcontact->pos[1] = (*planecontact_results)[1];
pcontact->pos[2] = (*planecontact_results)[2];
pcontact->pos[3] = REAL(1.0);
pcontact->normal[0] = plane[0];
pcontact->normal[1] = plane[1];
pcontact->normal[2] = plane[2];
pcontact->normal[3] = 0;
pcontact->depth = (*planecontact_results)[3];
pcontact->g1 = o1;
pcontact->g2 = o2;
planecontact_results++;
}
GIM_DYNARRAY_DESTROY(collision_result);
return (int)contactcount;
}
#endif // dTRIMESH_GIMPACT
#endif // dTRIMESH_ENABLED
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