resubmitting ode

1 files changed, 725 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_LSSCollider.cpp b/libraries/ode-0.9/OPCODE/OPC_LSSCollider.cpp
new file mode 100644
index 0000000..458c0a2
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_LSSCollider.cpp
@@ -0,0 +1,725 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *      OPCODE - Optimized Collision Detection
+ *      Copyright (C) 2001 Pierre Terdiman
+ *      Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains code for an LSS collider.
+ *      \file           OPC_LSSCollider.cpp
+ *      \author         Pierre Terdiman
+ *      \date           December, 28, 2002
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains a lss-vs-tree collider.
+ *
+ *      \class          LSSCollider
+ *      \author         Pierre Terdiman
+ *      \version        1.3
+ *      \date           December, 28, 2002
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+#include "OPC_LSSAABBOverlap.h"
+#include "OPC_LSSTriOverlap.h"
+
+#define SET_CONTACT(prim_index, flag)                                                                   \
+        /* Set contact status */                                                                                        \
+        mFlags |= flag;                                                                                                         \
+        mTouchedPrimitives->Add(udword(prim_index));
+
+//! LSS-triangle overlap test
+#define LSS_PRIM(prim_index, flag)                                                                              \
+        /* Request vertices from the app */                                                                     \
+        VertexPointers VP;      mIMesh->GetTriangle(VP, prim_index);                    \
+                                                                                                                                                \
+        /* Perform LSS-tri overlap test */                                                                      \
+        if(LSSTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2]))          \
+        {                                                                                                                                       \
+                SET_CONTACT(prim_index, flag)                                                                   \
+        }
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+LSSCollider::LSSCollider()
+{
+//      mCenter.Zero();
+//      mRadius2 = 0.0f;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+LSSCollider::~LSSCollider()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Generic collision query for generic OPCODE models. After the call, access the results:
+ *      - with GetContactStatus()
+ *      - with GetNbTouchedPrimitives()
+ *      - with GetTouchedPrimitives()
+ *
+ *      \param          cache                   [in/out] an lss cache
+ *      \param          lss                             [in] collision lss in local space
+ *      \param          model                   [in] Opcode model to collide with
+ *      \param          worldl                  [in] lss world matrix, or null
+ *      \param          worldm                  [in] model's world matrix, or null
+ *      \return         true if success
+ *      \warning        SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool LSSCollider::Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl, const Matrix4x4* worldm)
+{
+        // Checkings
+        if(!Setup(&model))      return false;
+
+        // Init collision query
+        if(InitQuery(cache, lss, worldl, worldm))       return true;
+
+        if(!model.HasLeafNodes())
+        {
+                if(model.IsQuantized())
+                {
+                        const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
+
+                        // Setup dequantization coeffs
+                        mCenterCoeff    = Tree->mCenterCoeff;
+                        mExtentsCoeff   = Tree->mExtentsCoeff;
+
+                        // Perform collision query
+                        if(SkipPrimitiveTests())        _CollideNoPrimitiveTest(Tree->GetNodes());
+                        else                                            _Collide(Tree->GetNodes());
+                }
+                else
+                {
+                        const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
+
+                        // Perform collision query
+                        if(SkipPrimitiveTests())        _CollideNoPrimitiveTest(Tree->GetNodes());
+                        else                                            _Collide(Tree->GetNodes());
+                }
+        }
+        else
+        {
+                if(model.IsQuantized())
+                {
+                        const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
+
+                        // Setup dequantization coeffs
+                        mCenterCoeff    = Tree->mCenterCoeff;
+                        mExtentsCoeff   = Tree->mExtentsCoeff;
+
+                        // Perform collision query
+                        if(SkipPrimitiveTests())        _CollideNoPrimitiveTest(Tree->GetNodes());
+                        else                                            _Collide(Tree->GetNodes());
+                }
+                else
+                {
+                        const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
+
+                        // Perform collision query
+                        if(SkipPrimitiveTests())        _CollideNoPrimitiveTest(Tree->GetNodes());
+                        else                                            _Collide(Tree->GetNodes());
+                }
+        }
+
+        return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Initializes a collision query :
+ *      - reset stats & contact status
+ *      - setup matrices
+ *      - check temporal coherence
+ *
+ *      \param          cache           [in/out] an lss cache
+ *      \param          lss                     [in] lss in local space
+ *      \param          worldl          [in] lss world matrix, or null
+ *      \param          worldm          [in] model's world matrix, or null
+ *      \return         TRUE if we can return immediately
+ *      \warning        SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+BOOL LSSCollider::InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl, const Matrix4x4* worldm)
+{
+        // 1) Call the base method
+        VolumeCollider::InitQuery();
+
+        // 2) Compute LSS in model space:
+        // - Precompute R^2
+        mRadius2 = lss.mRadius * lss.mRadius;
+        // - Compute segment
+        mSeg.mP0 = lss.mP0;
+        mSeg.mP1 = lss.mP1;
+        // -> to world space
+        if(worldl)
+        {
+                mSeg.mP0 *= *worldl;
+                mSeg.mP1 *= *worldl;
+        }
+        // -> to model space
+        if(worldm)
+        {
+                // Invert model matrix
+                Matrix4x4 InvWorldM;
+                InvertPRMatrix(InvWorldM, *worldm);
+
+                mSeg.mP0 *= InvWorldM;
+                mSeg.mP1 *= InvWorldM;
+        }
+
+        // 3) Setup destination pointer
+        mTouchedPrimitives = &cache.TouchedPrimitives;
+
+        // 4) Special case: 1-triangle meshes [Opcode 1.3]
+        if(mCurrentModel && mCurrentModel->HasSingleNode())
+        {
+                if(!SkipPrimitiveTests())
+                {
+                        // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
+                        mTouchedPrimitives->Reset();
+
+                        // Perform overlap test between the unique triangle and the LSS (and set contact status if needed)
+                        LSS_PRIM(udword(0), OPC_CONTACT)
+
+                        // Return immediately regardless of status
+                        return TRUE;
+                }
+        }
+
+        // 5) Check temporal coherence :
+        if(TemporalCoherenceEnabled())
+        {
+                // Here we use temporal coherence
+                // => check results from previous frame before performing the collision query
+                if(FirstContactEnabled())
+                {
+                        // We're only interested in the first contact found => test the unique previously touched face
+                        if(mTouchedPrimitives->GetNbEntries())
+                        {
+                                // Get index of previously touched face = the first entry in the array
+                                udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0);
+
+                                // Then reset the array:
+                                // - if the overlap test below is successful, the index we'll get added back anyway
+                                // - if it isn't, then the array should be reset anyway for the normal query
+                                mTouchedPrimitives->Reset();
+
+                                // Perform overlap test between the cached triangle and the LSS (and set contact status if needed)
+                                LSS_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)
+
+                                // Return immediately if possible
+                                if(GetContactStatus())  return TRUE;
+                        }
+                        // else no face has been touched during previous query
+                        // => we'll have to perform a normal query
+                }
+                else
+                {
+                        // We're interested in all contacts =>test the new real LSS N(ew) against the previous fat LSS P(revious):
+
+                        // ### rewrite this
+
+                        LSS Test(mSeg, lss.mRadius);    // in model space
+                        LSS Previous(cache.Previous, sqrtf(cache.Previous.mRadius));
+
+//                      if(cache.Previous.Contains(Test))
+                        if(IsCacheValid(cache) && Previous.Contains(Test))
+                        {
+                                // - if N is included in P, return previous list
+                                // => we simply leave the list (mTouchedFaces) unchanged
+
+                                // Set contact status if needed
+                                if(mTouchedPrimitives->GetNbEntries())  mFlags |= OPC_TEMPORAL_CONTACT;
+
+                                // In any case we don't need to do a query
+                                return TRUE;
+                        }
+                        else
+                        {
+                                // - else do the query using a fat N
+
+                                // Reset cache since we'll about to perform a real query
+                                mTouchedPrimitives->Reset();
+
+                                // Make a fat sphere so that coherence will work for subsequent frames
+                                mRadius2 *= cache.FatCoeff;
+//                              mRadius2 = (lss.mRadius * cache.FatCoeff)*(lss.mRadius * cache.FatCoeff);
+
+
+                                // Update cache with query data (signature for cached faces)
+                                cache.Previous.mP0 = mSeg.mP0;
+                                cache.Previous.mP1 = mSeg.mP1;
+                                cache.Previous.mRadius = mRadius2;
+                        }
+                }
+        }
+        else
+        {
+                // Here we don't use temporal coherence => do a normal query
+                mTouchedPrimitives->Reset();
+        }
+
+        return FALSE;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Collision query for vanilla AABB trees.
+ *      \param          cache           [in/out] an lss cache
+ *      \param          lss                     [in] collision lss in world space
+ *      \param          tree            [in] AABB tree
+ *      \return         true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool LSSCollider::Collide(LSSCache& cache, const LSS& lss, const AABBTree* tree)
+{
+        // This is typically called for a scene tree, full of -AABBs-, not full of triangles.
+        // So we don't really have "primitives" to deal with. Hence it doesn't work with
+        // "FirstContact" + "TemporalCoherence".
+        ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) );
+
+        // Checkings
+        if(!tree)       return false;
+
+        // Init collision query
+        if(InitQuery(cache, lss))       return true;
+
+        // Perform collision query
+        _Collide(tree);
+
+        return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Checks the LSS completely contains the box. In which case we can end the query sooner.
+ *      \param          bc      [in] box center
+ *      \param          be      [in] box extents
+ *      \return         true if the LSS contains the whole box
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL LSSCollider::LSSContainsBox(const Point& bc, const Point& be)
+{
+        // Not implemented
+        return FALSE;
+}
+
+#define TEST_BOX_IN_LSS(center, extents)        \
+        if(LSSContainsBox(center, extents))             \
+        {                                                                               \
+                /* Set contact status */                        \
+                mFlags |= OPC_CONTACT;                          \
+                _Dump(node);                                            \
+                return;                                                         \
+        }
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for normal AABB trees.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_Collide(const AABBCollisionNode* node)
+{
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))  return;
+
+        TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents)
+
+        if(node->IsLeaf())
+        {
+                LSS_PRIM(node->GetPrimitive(), OPC_CONTACT)
+        }
+        else
+        {
+                _Collide(node->GetPos());
+
+                if(ContactFound()) return;
+
+                _Collide(node->GetNeg());
+        }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for normal AABB trees, without primitive tests.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
+{
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))  return;
+
+        TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents)
+
+        if(node->IsLeaf())
+        {
+                SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
+        }
+        else
+        {
+                _CollideNoPrimitiveTest(node->GetPos());
+
+                if(ContactFound()) return;
+
+                _CollideNoPrimitiveTest(node->GetNeg());
+        }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for quantized AABB trees.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_Collide(const AABBQuantizedNode* node)
+{
+        // Dequantize box
+        const QuantizedAABB& Box = node->mAABB;
+        const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+        const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(Center, Extents))    return;
+
+        TEST_BOX_IN_LSS(Center, Extents)
+
+        if(node->IsLeaf())
+        {
+                LSS_PRIM(node->GetPrimitive(), OPC_CONTACT)
+        }
+        else
+        {
+                _Collide(node->GetPos());
+
+                if(ContactFound()) return;
+
+                _Collide(node->GetNeg());
+        }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for quantized AABB trees, without primitive tests.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node)
+{
+        // Dequantize box
+        const QuantizedAABB& Box = node->mAABB;
+        const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+        const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(Center, Extents))    return;
+
+        TEST_BOX_IN_LSS(Center, Extents)
+
+        if(node->IsLeaf())
+        {
+                SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
+        }
+        else
+        {
+                _CollideNoPrimitiveTest(node->GetPos());
+
+                if(ContactFound()) return;
+
+                _CollideNoPrimitiveTest(node->GetNeg());
+        }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for no-leaf AABB trees.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_Collide(const AABBNoLeafNode* node)
+{
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))  return;
+
+        TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents)
+
+        if(node->HasPosLeaf())  { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
+        else                                    _Collide(node->GetPos());
+
+        if(ContactFound()) return;
+
+        if(node->HasNegLeaf())  { LSS_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
+        else                                    _Collide(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for no-leaf AABB trees, without primitive tests.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
+{
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))  return;
+
+        TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents)
+
+        if(node->HasPosLeaf())  { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
+        else                                    _CollideNoPrimitiveTest(node->GetPos());
+
+        if(ContactFound()) return;
+
+        if(node->HasNegLeaf())  { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
+        else                                    _CollideNoPrimitiveTest(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for quantized no-leaf AABB trees.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_Collide(const AABBQuantizedNoLeafNode* node)
+{
+        // Dequantize box
+        const QuantizedAABB& Box = node->mAABB;
+        const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+        const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(Center, Extents))    return;
+
+        TEST_BOX_IN_LSS(Center, Extents)
+
+        if(node->HasPosLeaf())  { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
+        else                                    _Collide(node->GetPos());
+
+        if(ContactFound()) return;
+
+        if(node->HasNegLeaf())  { LSS_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
+        else                                    _Collide(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for quantized no-leaf AABB trees, without primitive tests.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node)
+{
+        // Dequantize box
+        const QuantizedAABB& Box = node->mAABB;
+        const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+        const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+        // Perform LSS-AABB overlap test
+        if(!LSSAABBOverlap(Center, Extents))    return;
+
+        TEST_BOX_IN_LSS(Center, Extents)
+
+        if(node->HasPosLeaf())  { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
+        else                                    _CollideNoPrimitiveTest(node->GetPos());
+
+        if(ContactFound()) return;
+
+        if(node->HasNegLeaf())  { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
+        else                                    _CollideNoPrimitiveTest(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Recursive collision query for vanilla AABB trees.
+ *      \param          node    [in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void LSSCollider::_Collide(const AABBTreeNode* node)
+{
+        // Perform LSS-AABB overlap test
+        Point Center, Extents;
+        node->GetAABB()->GetCenter(Center);
+        node->GetAABB()->GetExtents(Extents);
+        if(!LSSAABBOverlap(Center, Extents))    return;
+
+        if(node->IsLeaf() || LSSContainsBox(Center, Extents))
+        {
+                mFlags |= OPC_CONTACT;
+                mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
+        }
+        else
+        {
+                _Collide(node->GetPos());
+                _Collide(node->GetNeg());
+        }
+}
+
+
+
+
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridLSSCollider::HybridLSSCollider()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridLSSCollider::~HybridLSSCollider()
+{
+}
+
+bool HybridLSSCollider::Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl, const Matrix4x4* worldm)
+{
+        // We don't want primitive tests here!
+        mFlags |= OPC_NO_PRIMITIVE_TESTS;
+
+        // Checkings
+        if(!Setup(&model))      return false;
+
+        // Init collision query
+        if(InitQuery(cache, lss, worldl, worldm))       return true;
+
+        // Special case for 1-leaf trees
+        if(mCurrentModel && mCurrentModel->HasSingleNode())
+        {
+                // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
+                udword Nb = mIMesh->GetNbTriangles();
+
+                // Loop through all triangles
+                for(udword i=0;i<Nb;i++)
+                {
+                        LSS_PRIM(i, OPC_CONTACT)
+                }
+                return true;
+        }
+
+        // Override destination array since we're only going to get leaf boxes here
+        mTouchedBoxes.Reset();
+        mTouchedPrimitives = &mTouchedBoxes;
+
+        // Now, do the actual query against leaf boxes
+        if(!model.HasLeafNodes())
+        {
+                if(model.IsQuantized())
+                {
+                        const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
+
+                        // Setup dequantization coeffs
+                        mCenterCoeff    = Tree->mCenterCoeff;
+                        mExtentsCoeff   = Tree->mExtentsCoeff;
+
+                        // Perform collision query - we don't want primitive tests here!
+                        _CollideNoPrimitiveTest(Tree->GetNodes());
+                }
+                else
+                {
+                        const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
+
+                        // Perform collision query - we don't want primitive tests here!
+                        _CollideNoPrimitiveTest(Tree->GetNodes());
+                }
+        }
+        else
+        {
+                if(model.IsQuantized())
+                {
+                        const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
+
+                        // Setup dequantization coeffs
+                        mCenterCoeff    = Tree->mCenterCoeff;
+                        mExtentsCoeff   = Tree->mExtentsCoeff;
+
+                        // Perform collision query - we don't want primitive tests here!
+                        _CollideNoPrimitiveTest(Tree->GetNodes());
+                }
+                else
+                {
+                        const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
+
+                        // Perform collision query - we don't want primitive tests here!
+                        _CollideNoPrimitiveTest(Tree->GetNodes());
+                }
+        }
+
+        // We only have a list of boxes so far
+        if(GetContactStatus())
+        {
+                // Reset contact status, since it currently only reflects collisions with leaf boxes
+                Collider::InitQuery();
+
+                // Change dest container so that we can use built-in overlap tests and get collided primitives
+                cache.TouchedPrimitives.Reset();
+                mTouchedPrimitives = &cache.TouchedPrimitives;
+
+                // Read touched leaf boxes
+                udword Nb = mTouchedBoxes.GetNbEntries();
+                const udword* Touched = mTouchedBoxes.GetEntries();
+
+                const LeafTriangles* LT = model.GetLeafTriangles();
+                const udword* Indices = model.GetIndices();
+
+                // Loop through touched leaves
+                while(Nb--)
+                {
+                        const LeafTriangles& CurrentLeaf = LT[*Touched++];
+
+                        // Each leaf box has a set of triangles
+                        udword NbTris = CurrentLeaf.GetNbTriangles();
+                        if(Indices)
+                        {
+                                const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
+
+                                // Loop through triangles and test each of them
+                                while(NbTris--)
+                                {
+                                        udword TriangleIndex = *T++;
+                                        LSS_PRIM(TriangleIndex, OPC_CONTACT)
+                                }
+                        }
+                        else
+                        {
+                                udword BaseIndex = CurrentLeaf.GetTriangleIndex();
+
+                                // Loop through triangles and test each of them
+                                while(NbTris--)
+                                {
+                                        udword TriangleIndex = BaseIndex++;
+                                        LSS_PRIM(TriangleIndex, OPC_CONTACT)
+                                }
+                        }
+                }
+        }
+
+        return true;
+}