From 1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:22:23 +0000 Subject: trying to fix my screwup, please hold on --- libraries/ode-0.9/ode/src/box.cpp | 847 -------------------------------------- 1 file changed, 847 deletions(-) delete mode 100644 libraries/ode-0.9/ode/src/box.cpp (limited to 'libraries/ode-0.9\/ode/src/box.cpp') diff --git a/libraries/ode-0.9/ode/src/box.cpp b/libraries/ode-0.9/ode/src/box.cpp deleted file mode 100644 index f328651..0000000 --- a/libraries/ode-0.9/ode/src/box.cpp +++ /dev/null @@ -1,847 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -standard ODE geometry primitives: public API and pairwise collision functions. - -the rule is that only the low level primitive collision functions should set -dContactGeom::g1 and dContactGeom::g2. - -*/ - -#include -#include -#include -#include -#include -#include "collision_kernel.h" -#include "collision_std.h" -#include "collision_util.h" - -#ifdef _MSC_VER -#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" -#endif - -//**************************************************************************** -// box public API - -dxBox::dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz) : dxGeom (space,1) -{ - dAASSERT (lx >= 0 && ly >= 0 && lz >= 0); - type = dBoxClass; - side[0] = lx; - side[1] = ly; - side[2] = lz; -} - - -void dxBox::computeAABB() -{ - const dMatrix3& R = final_posr->R; - const dVector3& pos = final_posr->pos; - - dReal xrange = REAL(0.5) * (dFabs (R[0] * side[0]) + - dFabs (R[1] * side[1]) + dFabs (R[2] * side[2])); - dReal yrange = REAL(0.5) * (dFabs (R[4] * side[0]) + - dFabs (R[5] * side[1]) + dFabs (R[6] * side[2])); - dReal zrange = REAL(0.5) * (dFabs (R[8] * side[0]) + - dFabs (R[9] * side[1]) + dFabs (R[10] * side[2])); - aabb[0] = pos[0] - xrange; - aabb[1] = pos[0] + xrange; - aabb[2] = pos[1] - yrange; - aabb[3] = pos[1] + yrange; - aabb[4] = pos[2] - zrange; - aabb[5] = pos[2] + zrange; -} - - -dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz) -{ - return new dxBox (space,lx,ly,lz); -} - - -void dGeomBoxSetLengths (dGeomID g, dReal lx, dReal ly, dReal lz) -{ - dUASSERT (g && g->type == dBoxClass,"argument not a box"); - dAASSERT (lx > 0 && ly > 0 && lz > 0); - dxBox *b = (dxBox*) g; - b->side[0] = lx; - b->side[1] = ly; - b->side[2] = lz; - dGeomMoved (g); -} - - -void dGeomBoxGetLengths (dGeomID g, dVector3 result) -{ - dUASSERT (g && g->type == dBoxClass,"argument not a box"); - dxBox *b = (dxBox*) g; - result[0] = b->side[0]; - result[1] = b->side[1]; - result[2] = b->side[2]; -} - - -dReal dGeomBoxPointDepth (dGeomID g, dReal x, dReal y, dReal z) -{ - dUASSERT (g && g->type == dBoxClass,"argument not a box"); - g->recomputePosr(); - dxBox *b = (dxBox*) g; - - // Set p = (x,y,z) relative to box center - // - // This will be (0,0,0) if the point is at (side[0]/2,side[1]/2,side[2]/2) - - dVector3 p,q; - - p[0] = x - b->final_posr->pos[0]; - p[1] = y - b->final_posr->pos[1]; - p[2] = z - b->final_posr->pos[2]; - - // Rotate p into box's coordinate frame, so we can - // treat the OBB as an AABB - - dMULTIPLY1_331 (q,b->final_posr->R,p); - - // Record distance from point to each successive box side, and see - // if the point is inside all six sides - - dReal dist[6]; - int i; - - bool inside = true; - - for (i=0; i < 3; i++) { - dReal side = b->side[i] * REAL(0.5); - - dist[i ] = side - q[i]; - dist[i+3] = side + q[i]; - - if ((dist[i] < 0) || (dist[i+3] < 0)) { - inside = false; - } - } - - // If point is inside the box, the depth is the smallest positive distance - // to any side - - if (inside) { - dReal smallest_dist = (dReal) (unsigned) -1; - - for (i=0; i < 6; i++) { - if (dist[i] < smallest_dist) smallest_dist = dist[i]; - } - - return smallest_dist; - } - - // Otherwise, if point is outside the box, the depth is the largest - // distance to any side. This is an approximation to the 'proper' - // solution (the proper solution may be larger in some cases). - - dReal largest_dist = 0; - - for (i=0; i < 6; i++) { - if (dist[i] > largest_dist) largest_dist = dist[i]; - } - - return -largest_dist; -} - -//**************************************************************************** -// box-box collision utility - - -// find all the intersection points between the 2D rectangle with vertices -// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]), -// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]). -// -// the intersection points are returned as x,y pairs in the 'ret' array. -// the number of intersection points is returned by the function (this will -// be in the range 0 to 8). - -static int intersectRectQuad (dReal h[2], dReal p[8], dReal ret[16]) -{ - // q (and r) contain nq (and nr) coordinate points for the current (and - // chopped) polygons - int nq=4,nr; - dReal buffer[16]; - dReal *q = p; - dReal *r = ret; - for (int dir=0; dir <= 1; dir++) { - // direction notation: xy[0] = x axis, xy[1] = y axis - for (int sign=-1; sign <= 1; sign += 2) { - // chop q along the line xy[dir] = sign*h[dir] - dReal *pq = q; - dReal *pr = r; - nr = 0; - for (int i=nq; i > 0; i--) { - // go through all points in q and all lines between adjacent points - if (sign*pq[dir] < h[dir]) { - // this point is inside the chopping line - pr[0] = pq[0]; - pr[1] = pq[1]; - pr += 2; - nr++; - if (nr & 8) { - q = r; - goto done; - } - } - dReal *nextq = (i > 1) ? pq+2 : q; - if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) { - // this line crosses the chopping line - pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) / - (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]); - pr[dir] = sign*h[dir]; - pr += 2; - nr++; - if (nr & 8) { - q = r; - goto done; - } - } - pq += 2; - } - q = r; - r = (q==ret) ? buffer : ret; - nq = nr; - } - } - done: - if (q != ret) memcpy (ret,q,nr*2*sizeof(dReal)); - return nr; -} - - -// given n points in the plane (array p, of size 2*n), generate m points that -// best represent the whole set. the definition of 'best' here is not -// predetermined - the idea is to select points that give good box-box -// collision detection behavior. the chosen point indexes are returned in the -// array iret (of size m). 'i0' is always the first entry in the array. -// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be -// in the range [0..n-1]. - -void cullPoints (int n, dReal p[], int m, int i0, int iret[]) -{ - // compute the centroid of the polygon in cx,cy - int i,j; - dReal a,cx,cy,q; - if (n==1) { - cx = p[0]; - cy = p[1]; - } - else if (n==2) { - cx = REAL(0.5)*(p[0] + p[2]); - cy = REAL(0.5)*(p[1] + p[3]); - } - else { - a = 0; - cx = 0; - cy = 0; - for (i=0; i<(n-1); i++) { - q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1]; - a += q; - cx += q*(p[i*2]+p[i*2+2]); - cy += q*(p[i*2+1]+p[i*2+3]); - } - q = p[n*2-2]*p[1] - p[0]*p[n*2-1]; - a = dRecip(REAL(3.0)*(a+q)); - cx = a*(cx + q*(p[n*2-2]+p[0])); - cy = a*(cy + q*(p[n*2-1]+p[1])); - } - - // compute the angle of each point w.r.t. the centroid - dReal A[8]; - for (i=0; i M_PI) a -= 2*M_PI; - dReal maxdiff=1e9,diff; -#ifndef dNODEBUG - *iret = i0; // iret is not allowed to keep this value -#endif - for (i=0; i M_PI) diff = 2*M_PI - diff; - if (diff < maxdiff) { - maxdiff = diff; - *iret = i; - } - } - } -#ifndef dNODEBUG - dIASSERT (*iret != i0); // ensure iret got set -#endif - avail[*iret] = 0; - iret++; - } -} - - -// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and -// generate contact points. this returns 0 if there is no contact otherwise -// it returns the number of contacts generated. -// `normal' returns the contact normal. -// `depth' returns the maximum penetration depth along that normal. -// `return_code' returns a number indicating the type of contact that was -// detected: -// 1,2,3 = box 2 intersects with a face of box 1 -// 4,5,6 = box 1 intersects with a face of box 2 -// 7..15 = edge-edge contact -// `maxc' is the maximum number of contacts allowed to be generated, i.e. -// the size of the `contact' array. -// `contact' and `skip' are the contact array information provided to the -// collision functions. this function only fills in the position and depth -// fields. - - -int dBoxBox (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2, - dVector3 normal, dReal *depth, int *return_code, - int flags, dContactGeom *contact, int skip) -{ - const dReal fudge_factor = REAL(1.05); - dVector3 p,pp,normalC; - const dReal *normalR = 0; - dReal A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33, - Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l,expr1_val; - int i,j,invert_normal,code; - - // get vector from centers of box 1 to box 2, relative to box 1 - p[0] = p2[0] - p1[0]; - p[1] = p2[1] - p1[1]; - p[2] = p2[2] - p1[2]; - dMULTIPLY1_331 (pp,R1,p); // get pp = p relative to body 1 - - // get side lengths / 2 - A[0] = side1[0]*REAL(0.5); - A[1] = side1[1]*REAL(0.5); - A[2] = side1[2]*REAL(0.5); - B[0] = side2[0]*REAL(0.5); - B[1] = side2[1]*REAL(0.5); - B[2] = side2[2]*REAL(0.5); - - // Rij is R1'*R2, i.e. the relative rotation between R1 and R2 - R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2); - R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2); - R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2); - - Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13); - Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23); - Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33); - - // for all 15 possible separating axes: - // * see if the axis separates the boxes. if so, return 0. - // * find the depth of the penetration along the separating axis (s2) - // * if this is the largest depth so far, record it. - // the normal vector will be set to the separating axis with the smallest - // depth. note: normalR is set to point to a column of R1 or R2 if that is - // the smallest depth normal so far. otherwise normalR is 0 and normalC is - // set to a vector relative to body 1. invert_normal is 1 if the sign of - // the normal should be flipped. - - do { -#define TST(expr1,expr2,norm,cc) \ - expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \ - s2 = dFabs(expr1_val) - (expr2); \ - if (s2 > 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = norm; \ - invert_normal = ((expr1_val) < 0); \ - code = (cc); \ - if (flags & CONTACTS_UNIMPORTANT) break; \ - } - - s = -dInfinity; - invert_normal = 0; - code = 0; - - // separating axis = u1,u2,u3 - TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1); - TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2); - TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3); - - // separating axis = v1,v2,v3 - TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4); - TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5); - TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6); - - // note: cross product axes need to be scaled when s is computed. - // normal (n1,n2,n3) is relative to box 1. -#undef TST -#define TST(expr1,expr2,n1,n2,n3,cc) \ - expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \ - s2 = dFabs(expr1_val) - (expr2); \ - if (s2 > 0) return 0; \ - l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \ - if (l > 0) { \ - s2 /= l; \ - if (s2*fudge_factor > s) { \ - s = s2; \ - normalR = 0; \ - normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \ - invert_normal = ((expr1_val) < 0); \ - code = (cc); \ - if (flags & CONTACTS_UNIMPORTANT) break; \ - } \ - } - - // separating axis = u1 x (v1,v2,v3) - TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7); - TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8); - TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9); - - // separating axis = u2 x (v1,v2,v3) - TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10); - TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11); - TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12); - - // separating axis = u3 x (v1,v2,v3) - TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13); - TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14); - TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15); -#undef TST - } while (0); - - if (!code) return 0; - - // if we get to this point, the boxes interpenetrate. compute the normal - // in global coordinates. - if (normalR) { - normal[0] = normalR[0]; - normal[1] = normalR[4]; - normal[2] = normalR[8]; - } - else { - dMULTIPLY0_331 (normal,R1,normalC); - } - if (invert_normal) { - normal[0] = -normal[0]; - normal[1] = -normal[1]; - normal[2] = -normal[2]; - } - *depth = -s; - - // compute contact point(s) - - if (code > 6) { - // an edge from box 1 touches an edge from box 2. - // find a point pa on the intersecting edge of box 1 - dVector3 pa; - dReal sign; - for (i=0; i<3; i++) pa[i] = p1[i]; - for (j=0; j<3; j++) { - sign = (dDOT14(normal,R1+j) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j]; - } - - // find a point pb on the intersecting edge of box 2 - dVector3 pb; - for (i=0; i<3; i++) pb[i] = p2[i]; - for (j=0; j<3; j++) { - sign = (dDOT14(normal,R2+j) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j]; - } - - dReal alpha,beta; - dVector3 ua,ub; - for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4]; - for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4]; - - dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta); - for (i=0; i<3; i++) pa[i] += ua[i]*alpha; - for (i=0; i<3; i++) pb[i] += ub[i]*beta; - - for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]); - contact[0].depth = *depth; - *return_code = code; - return 1; - } - - // okay, we have a face-something intersection (because the separating - // axis is perpendicular to a face). define face 'a' to be the reference - // face (i.e. the normal vector is perpendicular to this) and face 'b' to be - // the incident face (the closest face of the other box). - - const dReal *Ra,*Rb,*pa,*pb,*Sa,*Sb; - if (code <= 3) { - Ra = R1; - Rb = R2; - pa = p1; - pb = p2; - Sa = A; - Sb = B; - } - else { - Ra = R2; - Rb = R1; - pa = p2; - pb = p1; - Sa = B; - Sb = A; - } - - // nr = normal vector of reference face dotted with axes of incident box. - // anr = absolute values of nr. - dVector3 normal2,nr,anr; - if (code <= 3) { - normal2[0] = normal[0]; - normal2[1] = normal[1]; - normal2[2] = normal[2]; - } - else { - normal2[0] = -normal[0]; - normal2[1] = -normal[1]; - normal2[2] = -normal[2]; - } - dMULTIPLY1_331 (nr,Rb,normal2); - anr[0] = dFabs (nr[0]); - anr[1] = dFabs (nr[1]); - anr[2] = dFabs (nr[2]); - - // find the largest compontent of anr: this corresponds to the normal - // for the indident face. the other axis numbers of the indicent face - // are stored in a1,a2. - int lanr,a1,a2; - if (anr[1] > anr[0]) { - if (anr[1] > anr[2]) { - a1 = 0; - lanr = 1; - a2 = 2; - } - else { - a1 = 0; - a2 = 1; - lanr = 2; - } - } - else { - if (anr[0] > anr[2]) { - lanr = 0; - a1 = 1; - a2 = 2; - } - else { - a1 = 0; - a2 = 1; - lanr = 2; - } - } - - // compute center point of incident face, in reference-face coordinates - dVector3 center; - if (nr[lanr] < 0) { - for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr]; - } - else { - for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr]; - } - - // find the normal and non-normal axis numbers of the reference box - int codeN,code1,code2; - if (code <= 3) codeN = code-1; else codeN = code-4; - if (codeN==0) { - code1 = 1; - code2 = 2; - } - else if (codeN==1) { - code1 = 0; - code2 = 2; - } - else { - code1 = 0; - code2 = 1; - } - - // find the four corners of the incident face, in reference-face coordinates - dReal quad[8]; // 2D coordinate of incident face (x,y pairs) - dReal c1,c2,m11,m12,m21,m22; - c1 = dDOT14 (center,Ra+code1); - c2 = dDOT14 (center,Ra+code2); - // optimize this? - we have already computed this data above, but it is not - // stored in an easy-to-index format. for now it's quicker just to recompute - // the four dot products. - m11 = dDOT44 (Ra+code1,Rb+a1); - m12 = dDOT44 (Ra+code1,Rb+a2); - m21 = dDOT44 (Ra+code2,Rb+a1); - m22 = dDOT44 (Ra+code2,Rb+a2); - { - dReal k1 = m11*Sb[a1]; - dReal k2 = m21*Sb[a1]; - dReal k3 = m12*Sb[a2]; - dReal k4 = m22*Sb[a2]; - quad[0] = c1 - k1 - k3; - quad[1] = c2 - k2 - k4; - quad[2] = c1 - k1 + k3; - quad[3] = c2 - k2 + k4; - quad[4] = c1 + k1 + k3; - quad[5] = c2 + k2 + k4; - quad[6] = c1 + k1 - k3; - quad[7] = c2 + k2 - k4; - } - - // find the size of the reference face - dReal rect[2]; - rect[0] = Sa[code1]; - rect[1] = Sa[code2]; - - // intersect the incident and reference faces - dReal ret[16]; - int n = intersectRectQuad (rect,quad,ret); - if (n < 1) return 0; // this should never happen - - // convert the intersection points into reference-face coordinates, - // and compute the contact position and depth for each point. only keep - // those points that have a positive (penetrating) depth. delete points in - // the 'ret' array as necessary so that 'point' and 'ret' correspond. - dReal point[3*8]; // penetrating contact points - dReal dep[8]; // depths for those points - dReal det1 = dRecip(m11*m22 - m12*m21); - m11 *= det1; - m12 *= det1; - m21 *= det1; - m22 *= det1; - int cnum = 0; // number of penetrating contact points found - for (j=0; j < n; j++) { - dReal k1 = m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2); - dReal k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2); - for (i=0; i<3; i++) point[cnum*3+i] = - center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2]; - dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3); - if (dep[cnum] >= 0) { - ret[cnum*2] = ret[j*2]; - ret[cnum*2+1] = ret[j*2+1]; - cnum++; - if ((cnum | CONTACTS_UNIMPORTANT) == (flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) { - break; - } - } - } - if (cnum < 1) { - return 0; // this should not happen, yet does at times (demo_plane2d single precision). - } - - // we can't generate more contacts than we actually have - int maxc = flags & NUMC_MASK; - if (maxc > cnum) maxc = cnum; - if (maxc < 1) maxc = 1; // Even though max count must not be zero this check is kept for backward compatibility as this is a public function - - if (cnum <= maxc) { - // we have less contacts than we need, so we use them all - for (j=0; j < cnum; j++) { - dContactGeom *con = CONTACT(contact,skip*j); - for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i]; - con->depth = dep[j]; - } - } - else { - dIASSERT(!(flags & CONTACTS_UNIMPORTANT)); // cnum should be generated not greater than maxc so that "then" clause is executed - // we have more contacts than are wanted, some of them must be culled. - // find the deepest point, it is always the first contact. - int i1 = 0; - dReal maxdepth = dep[0]; - for (i=1; i maxdepth) { - maxdepth = dep[i]; - i1 = i; - } - } - - int iret[8]; - cullPoints (cnum,ret,maxc,i1,iret); - - for (j=0; j < maxc; j++) { - dContactGeom *con = CONTACT(contact,skip*j); - for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i]; - con->depth = dep[iret[j]]; - } - cnum = maxc; - } - - *return_code = code; - return cnum; -} - - - -int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dBoxClass); - dIASSERT (o2->type == dBoxClass); - dIASSERT ((flags & NUMC_MASK) >= 1); - - dVector3 normal; - dReal depth; - int code; - dxBox *b1 = (dxBox*) o1; - dxBox *b2 = (dxBox*) o2; - int num = dBoxBox (o1->final_posr->pos,o1->final_posr->R,b1->side, o2->final_posr->pos,o2->final_posr->R,b2->side, - normal,&depth,&code,flags,contact,skip); - for (int i=0; inormal[0] = -normal[0]; - CONTACT(contact,i*skip)->normal[1] = -normal[1]; - CONTACT(contact,i*skip)->normal[2] = -normal[2]; - CONTACT(contact,i*skip)->g1 = o1; - CONTACT(contact,i*skip)->g2 = o2; - } - return num; -} - - -int dCollideBoxPlane (dxGeom *o1, dxGeom *o2, - int flags, dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dBoxClass); - dIASSERT (o2->type == dPlaneClass); - dIASSERT ((flags & NUMC_MASK) >= 1); - - dxBox *box = (dxBox*) o1; - dxPlane *plane = (dxPlane*) o2; - - contact->g1 = o1; - contact->g2 = o2; - int ret = 0; - - //@@@ problem: using 4-vector (plane->p) as 3-vector (normal). - const dReal *R = o1->final_posr->R; // rotation of box - const dReal *n = plane->p; // normal vector - - // project sides lengths along normal vector, get absolute values - dReal Q1 = dDOT14(n,R+0); - dReal Q2 = dDOT14(n,R+1); - dReal Q3 = dDOT14(n,R+2); - dReal A1 = box->side[0] * Q1; - dReal A2 = box->side[1] * Q2; - dReal A3 = box->side[2] * Q3; - dReal B1 = dFabs(A1); - dReal B2 = dFabs(A2); - dReal B3 = dFabs(A3); - - // early exit test - dReal depth = plane->p[3] + REAL(0.5)*(B1+B2+B3) - dDOT(n,o1->final_posr->pos); - if (depth < 0) return 0; - - // find number of contacts requested - int maxc = flags & NUMC_MASK; - // if (maxc < 1) maxc = 1; // an assertion is made on entry - if (maxc > 3) maxc = 3; // not more than 3 contacts per box allowed - - // find deepest point - dVector3 p; - p[0] = o1->final_posr->pos[0]; - p[1] = o1->final_posr->pos[1]; - p[2] = o1->final_posr->pos[2]; -#define FOO(i,op) \ - p[0] op REAL(0.5)*box->side[i] * R[0+i]; \ - p[1] op REAL(0.5)*box->side[i] * R[4+i]; \ - p[2] op REAL(0.5)*box->side[i] * R[8+i]; -#define BAR(i,iinc) if (A ## iinc > 0) { FOO(i,-=) } else { FOO(i,+=) } - BAR(0,1); - BAR(1,2); - BAR(2,3); -#undef FOO -#undef BAR - - // the deepest point is the first contact point - contact->pos[0] = p[0]; - contact->pos[1] = p[1]; - contact->pos[2] = p[2]; - contact->normal[0] = n[0]; - contact->normal[1] = n[1]; - contact->normal[2] = n[2]; - contact->depth = depth; - ret = 1; // ret is number of contact points found so far - if (maxc == 1) goto done; - - // get the second and third contact points by starting from `p' and going - // along the two sides with the smallest projected length. - -#define FOO(i,j,op) \ - CONTACT(contact,i*skip)->pos[0] = p[0] op box->side[j] * R[0+j]; \ - CONTACT(contact,i*skip)->pos[1] = p[1] op box->side[j] * R[4+j]; \ - CONTACT(contact,i*skip)->pos[2] = p[2] op box->side[j] * R[8+j]; -#define BAR(ctact,side,sideinc) \ - depth -= B ## sideinc; \ - if (depth < 0) goto done; \ - if (A ## sideinc > 0) { FOO(ctact,side,+); } else { FOO(ctact,side,-); } \ - CONTACT(contact,ctact*skip)->depth = depth; \ - ret++; - - CONTACT(contact,skip)->normal[0] = n[0]; - CONTACT(contact,skip)->normal[1] = n[1]; - CONTACT(contact,skip)->normal[2] = n[2]; - if (maxc == 3) { - CONTACT(contact,2*skip)->normal[0] = n[0]; - CONTACT(contact,2*skip)->normal[1] = n[1]; - CONTACT(contact,2*skip)->normal[2] = n[2]; - } - - if (B1 < B2) { - if (B3 < B1) goto use_side_3; else { - BAR(1,0,1); // use side 1 - if (maxc == 2) goto done; - if (B2 < B3) goto contact2_2; else goto contact2_3; - } - } - else { - if (B3 < B2) { - use_side_3: // use side 3 - BAR(1,2,3); - if (maxc == 2) goto done; - if (B1 < B2) goto contact2_1; else goto contact2_2; - } - else { - BAR(1,1,2); // use side 2 - if (maxc == 2) goto done; - if (B1 < B3) goto contact2_1; else goto contact2_3; - } - } - - contact2_1: BAR(2,0,1); goto done; - contact2_2: BAR(2,1,2); goto done; - contact2_3: BAR(2,2,3); goto done; -#undef FOO -#undef BAR - - done: - for (int i=0; ig1 = o1; - CONTACT(contact,i*skip)->g2 = o2; - } - return ret; -} -- cgit v1.1