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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001-2003 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
25standard ODE geometry primitives: public API and pairwise collision functions.
26
27the rule is that only the low level primitive collision functions should set
28dContactGeom::g1 and dContactGeom::g2.
29
30*/
31
32#include <ode/common.h>
33#include <ode/collision.h>
34#include <ode/matrix.h>
35#include <ode/rotation.h>
36#include <ode/odemath.h>
37#include "collision_kernel.h"
38#include "collision_std.h"
39#include "collision_util.h"
40
41#ifdef _MSC_VER
42#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
43#endif
44
45
46//****************************************************************************
47// sphere public API
48
49dxSphere::dxSphere (dSpaceID space, dReal _radius) : dxGeom (space,1)
50{
51 dAASSERT (_radius > 0);
52 type = dSphereClass;
53 radius = _radius;
54}
55
56
57void dxSphere::computeAABB()
58{
59 aabb[0] = final_posr->pos[0] - radius;
60 aabb[1] = final_posr->pos[0] + radius;
61 aabb[2] = final_posr->pos[1] - radius;
62 aabb[3] = final_posr->pos[1] + radius;
63 aabb[4] = final_posr->pos[2] - radius;
64 aabb[5] = final_posr->pos[2] + radius;
65}
66
67
68dGeomID dCreateSphere (dSpaceID space, dReal radius)
69{
70 return new dxSphere (space,radius);
71}
72
73
74void dGeomSphereSetRadius (dGeomID g, dReal radius)
75{
76 dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
77 dAASSERT (radius > 0);
78 dxSphere *s = (dxSphere*) g;
79 s->radius = radius;
80 dGeomMoved (g);
81}
82
83
84dReal dGeomSphereGetRadius (dGeomID g)
85{
86 dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
87 dxSphere *s = (dxSphere*) g;
88 return s->radius;
89}
90
91
92dReal dGeomSpherePointDepth (dGeomID g, dReal x, dReal y, dReal z)
93{
94 dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
95 g->recomputePosr();
96
97 dxSphere *s = (dxSphere*) g;
98 dReal * pos = s->final_posr->pos;
99 return s->radius - dSqrt ((x-pos[0])*(x-pos[0]) +
100 (y-pos[1])*(y-pos[1]) +
101 (z-pos[2])*(z-pos[2]));
102}
103
104//****************************************************************************
105// pairwise collision functions for standard geom types
106
107int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
108 dContactGeom *contact, int skip)
109{
110 dIASSERT (skip >= (int)sizeof(dContactGeom));
111 dIASSERT (o1->type == dSphereClass);
112 dIASSERT (o2->type == dSphereClass);
113 dIASSERT ((flags & NUMC_MASK) >= 1);
114
115 dxSphere *sphere1 = (dxSphere*) o1;
116 dxSphere *sphere2 = (dxSphere*) o2;
117
118 contact->g1 = o1;
119 contact->g2 = o2;
120
121 return dCollideSpheres (o1->final_posr->pos,sphere1->radius,
122 o2->final_posr->pos,sphere2->radius,contact);
123}
124
125
126int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
127 dContactGeom *contact, int skip)
128{
129 dIASSERT (skip >= (int)sizeof(dContactGeom));
130 dIASSERT (o1->type == dSphereClass);
131 dIASSERT (o2->type == dBoxClass);
132 dIASSERT ((flags & NUMC_MASK) >= 1);
133
134 // this is easy. get the sphere center `p' relative to the box, and then clip
135 // that to the boundary of the box (call that point `q'). if q is on the
136 // boundary of the box and |p-q| is <= sphere radius, they touch.
137 // if q is inside the box, the sphere is inside the box, so set a contact
138 // normal to push the sphere to the closest box face.
139
140 dVector3 l,t,p,q,r;
141 dReal depth;
142 int onborder = 0;
143
144 dxSphere *sphere = (dxSphere*) o1;
145 dxBox *box = (dxBox*) o2;
146
147 contact->g1 = o1;
148 contact->g2 = o2;
149
150 p[0] = o1->final_posr->pos[0] - o2->final_posr->pos[0];
151 p[1] = o1->final_posr->pos[1] - o2->final_posr->pos[1];
152 p[2] = o1->final_posr->pos[2] - o2->final_posr->pos[2];
153
154 l[0] = box->side[0]*REAL(0.5);
155 t[0] = dDOT14(p,o2->final_posr->R);
156 if (t[0] < -l[0]) { t[0] = -l[0]; onborder = 1; }
157 if (t[0] > l[0]) { t[0] = l[0]; onborder = 1; }
158
159 l[1] = box->side[1]*REAL(0.5);
160 t[1] = dDOT14(p,o2->final_posr->R+1);
161 if (t[1] < -l[1]) { t[1] = -l[1]; onborder = 1; }
162 if (t[1] > l[1]) { t[1] = l[1]; onborder = 1; }
163
164 t[2] = dDOT14(p,o2->final_posr->R+2);
165 l[2] = box->side[2]*REAL(0.5);
166 if (t[2] < -l[2]) { t[2] = -l[2]; onborder = 1; }
167 if (t[2] > l[2]) { t[2] = l[2]; onborder = 1; }
168
169 if (!onborder) {
170 // sphere center inside box. find closest face to `t'
171 dReal min_distance = l[0] - dFabs(t[0]);
172 int mini = 0;
173 for (int i=1; i<3; i++) {
174 dReal face_distance = l[i] - dFabs(t[i]);
175 if (face_distance < min_distance) {
176 min_distance = face_distance;
177 mini = i;
178 }
179 }
180 // contact position = sphere center
181 contact->pos[0] = o1->final_posr->pos[0];
182 contact->pos[1] = o1->final_posr->pos[1];
183 contact->pos[2] = o1->final_posr->pos[2];
184 // contact normal points to closest face
185 dVector3 tmp;
186 tmp[0] = 0;
187 tmp[1] = 0;
188 tmp[2] = 0;
189 tmp[mini] = (t[mini] > 0) ? REAL(1.0) : REAL(-1.0);
190 dMULTIPLY0_331 (contact->normal,o2->final_posr->R,tmp);
191 // contact depth = distance to wall along normal plus radius
192 contact->depth = min_distance + sphere->radius;
193 return 1;
194 }
195
196 t[3] = 0; //@@@ hmmm
197 dMULTIPLY0_331 (q,o2->final_posr->R,t);
198 r[0] = p[0] - q[0];
199 r[1] = p[1] - q[1];
200 r[2] = p[2] - q[2];
201 depth = sphere->radius - dSqrt(dDOT(r,r));
202 if (depth < 0) return 0;
203 contact->pos[0] = q[0] + o2->final_posr->pos[0];
204 contact->pos[1] = q[1] + o2->final_posr->pos[1];
205 contact->pos[2] = q[2] + o2->final_posr->pos[2];
206 contact->normal[0] = r[0];
207 contact->normal[1] = r[1];
208 contact->normal[2] = r[2];
209 dNormalize3 (contact->normal);
210 contact->depth = depth;
211 return 1;
212}
213
214
215int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
216 dContactGeom *contact, int skip)
217{
218 dIASSERT (skip >= (int)sizeof(dContactGeom));
219 dIASSERT (o1->type == dSphereClass);
220 dIASSERT (o2->type == dPlaneClass);
221 dIASSERT ((flags & NUMC_MASK) >= 1);
222
223 dxSphere *sphere = (dxSphere*) o1;
224 dxPlane *plane = (dxPlane*) o2;
225
226 contact->g1 = o1;
227 contact->g2 = o2;
228 dReal k = dDOT (o1->final_posr->pos,plane->p);
229 dReal depth = plane->p[3] - k + sphere->radius;
230 if (depth >= 0) {
231 contact->normal[0] = plane->p[0];
232 contact->normal[1] = plane->p[1];
233 contact->normal[2] = plane->p[2];
234 contact->pos[0] = o1->final_posr->pos[0] - plane->p[0] * sphere->radius;
235 contact->pos[1] = o1->final_posr->pos[1] - plane->p[1] * sphere->radius;
236 contact->pos[2] = o1->final_posr->pos[2] - plane->p[2] * sphere->radius;
237 contact->depth = depth;
238 return 1;
239 }
240 else return 0;
241}
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