From 79eca25c945a535a7a0325999034bae17da92412 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:15:33 +0000 Subject: resubmitting ode --- libraries/ode-0.9/OPCODE/OPC_LSSAABBOverlap.h | 523 ++++++++++++++++++++++++++ 1 file changed, 523 insertions(+) create mode 100644 libraries/ode-0.9/OPCODE/OPC_LSSAABBOverlap.h (limited to 'libraries/ode-0.9/OPCODE/OPC_LSSAABBOverlap.h') diff --git a/libraries/ode-0.9/OPCODE/OPC_LSSAABBOverlap.h b/libraries/ode-0.9/OPCODE/OPC_LSSAABBOverlap.h new file mode 100644 index 0000000..5cc50b5 --- /dev/null +++ b/libraries/ode-0.9/OPCODE/OPC_LSSAABBOverlap.h @@ -0,0 +1,523 @@ + +// Following code from Magic-Software (http://www.magic-software.com/) +// A bit modified for Opcode + +inline_ float OPC_PointAABBSqrDist(const Point& point, const Point& center, const Point& extents) +{ + // Compute coordinates of point in box coordinate system + Point Closest = point - center; + + float SqrDistance = 0.0f; + + if(Closest.x < -extents.x) + { + float Delta = Closest.x + extents.x; + SqrDistance += Delta*Delta; + } + else if(Closest.x > extents.x) + { + float Delta = Closest.x - extents.x; + SqrDistance += Delta*Delta; + } + + if(Closest.y < -extents.y) + { + float Delta = Closest.y + extents.y; + SqrDistance += Delta*Delta; + } + else if(Closest.y > extents.y) + { + float Delta = Closest.y - extents.y; + SqrDistance += Delta*Delta; + } + + if(Closest.z < -extents.z) + { + float Delta = Closest.z + extents.z; + SqrDistance += Delta*Delta; + } + else if(Closest.z > extents.z) + { + float Delta = Closest.z - extents.z; + SqrDistance += Delta*Delta; + } + return SqrDistance; +} + +static void Face(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, const Point& rkPmE, float* pfLParam, float& rfSqrDistance) +{ + Point kPpE; + float fLSqr, fInv, fTmp, fParam, fT, fDelta; + + kPpE[i1] = rkPnt[i1] + extents[i1]; + kPpE[i2] = rkPnt[i2] + extents[i2]; + if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0]) + { + if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0]) + { + // v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0) + if(pfLParam) + { + rkPnt[i0] = extents[i0]; + fInv = 1.0f/rkDir[i0]; + rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv; + rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv; + *pfLParam = -rkPmE[i0]*fInv; + } + } + else + { + // v[i1] >= -e[i1], v[i2] < -e[i2] + fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2]; + fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]); + if(fTmp <= 2.0f*fLSqr*extents[i1]) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i1]*rkDir[i1]; + fTmp = kPpE[i1] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = fT - extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + else + { + fLSqr += rkDir[i1]*rkDir[i1]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + } + } + else + { + if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] ) + { + // v[i1] < -e[i1], v[i2] >= -e[i2] + fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]; + fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]); + if(fTmp <= 2.0f*fLSqr*extents[i2]) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i2]*rkDir[i2]; + fTmp = kPpE[i2] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = fT - extents[i2]; + } + } + else + { + fLSqr += rkDir[i2]*rkDir[i2]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = extents[i2]; + } + } + } + else + { + // v[i1] < -e[i1], v[i2] < -e[i2] + fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2]; + fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]); + if(fTmp >= 0.0f) + { + // v[i1]-edge is closest + if ( fTmp <= 2.0f*fLSqr*extents[i1] ) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i1]*rkDir[i1]; + fTmp = kPpE[i1] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = fT - extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + else + { + fLSqr += rkDir[i1]*rkDir[i1]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + return; + } + + fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]; + fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]); + if(fTmp >= 0.0f) + { + // v[i2]-edge is closest + if(fTmp <= 2.0f*fLSqr*extents[i2]) + { + fT = fTmp/fLSqr; + fLSqr += rkDir[i2]*rkDir[i2]; + fTmp = kPpE[i2] - fT; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = fT - extents[i2]; + } + } + else + { + fLSqr += rkDir[i2]*rkDir[i2]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = extents[i2]; + } + } + return; + } + + // (v[i1],v[i2])-corner is closest + fLSqr += rkDir[i2]*rkDir[i2]; + fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2]; + fParam = -fDelta/fLSqr; + rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; + + if(pfLParam) + { + *pfLParam = fParam; + rkPnt[i0] = extents[i0]; + rkPnt[i1] = -extents[i1]; + rkPnt[i2] = -extents[i2]; + } + } + } +} + +static void CaseNoZeros(Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance) +{ + Point kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z); + + float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz; + + fProdDxPy = rkDir.x*kPmE.y; + fProdDyPx = rkDir.y*kPmE.x; + if(fProdDyPx >= fProdDxPy) + { + fProdDzPx = rkDir.z*kPmE.x; + fProdDxPz = rkDir.x*kPmE.z; + if(fProdDzPx >= fProdDxPz) + { + // line intersects x = e0 + Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + else + { + // line intersects z = e2 + Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + } + else + { + fProdDzPy = rkDir.z*kPmE.y; + fProdDyPz = rkDir.y*kPmE.z; + if(fProdDzPy >= fProdDyPz) + { + // line intersects y = e1 + Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + else + { + // line intersects z = e2 + Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); + } + } +} + +static void Case0(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance) +{ + float fPmE0 = rkPnt[i0] - extents[i0]; + float fPmE1 = rkPnt[i1] - extents[i1]; + float fProd0 = rkDir[i1]*fPmE0; + float fProd1 = rkDir[i0]*fPmE1; + float fDelta, fInvLSqr, fInv; + + if(fProd0 >= fProd1) + { + // line intersects P[i0] = e[i0] + rkPnt[i0] = extents[i0]; + + float fPpE1 = rkPnt[i1] + extents[i1]; + fDelta = fProd0 - rkDir[i0]*fPpE1; + if(fDelta >= 0.0f) + { + fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]); + rfSqrDistance += fDelta*fDelta*fInvLSqr; + if(pfLParam) + { + rkPnt[i1] = -extents[i1]; + *pfLParam = -(rkDir[i0]*fPmE0+rkDir[i1]*fPpE1)*fInvLSqr; + } + } + else + { + if(pfLParam) + { + fInv = 1.0f/rkDir[i0]; + rkPnt[i1] -= fProd0*fInv; + *pfLParam = -fPmE0*fInv; + } + } + } + else + { + // line intersects P[i1] = e[i1] + rkPnt[i1] = extents[i1]; + + float fPpE0 = rkPnt[i0] + extents[i0]; + fDelta = fProd1 - rkDir[i1]*fPpE0; + if(fDelta >= 0.0f) + { + fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]); + rfSqrDistance += fDelta*fDelta*fInvLSqr; + if(pfLParam) + { + rkPnt[i0] = -extents[i0]; + *pfLParam = -(rkDir[i0]*fPpE0+rkDir[i1]*fPmE1)*fInvLSqr; + } + } + else + { + if(pfLParam) + { + fInv = 1.0f/rkDir[i1]; + rkPnt[i0] -= fProd1*fInv; + *pfLParam = -fPmE1*fInv; + } + } + } + + if(rkPnt[i2] < -extents[i2]) + { + fDelta = rkPnt[i2] + extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i2] = -extents[i2]; + } + else if ( rkPnt[i2] > extents[i2] ) + { + fDelta = rkPnt[i2] - extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i2] = extents[i2]; + } +} + +static void Case00(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance) +{ + float fDelta; + + if(pfLParam) + *pfLParam = (extents[i0] - rkPnt[i0])/rkDir[i0]; + + rkPnt[i0] = extents[i0]; + + if(rkPnt[i1] < -extents[i1]) + { + fDelta = rkPnt[i1] + extents[i1]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i1] = -extents[i1]; + } + else if(rkPnt[i1] > extents[i1]) + { + fDelta = rkPnt[i1] - extents[i1]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i1] = extents[i1]; + } + + if(rkPnt[i2] < -extents[i2]) + { + fDelta = rkPnt[i2] + extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i1] = -extents[i2]; + } + else if(rkPnt[i2] > extents[i2]) + { + fDelta = rkPnt[i2] - extents[i2]; + rfSqrDistance += fDelta*fDelta; + rkPnt[i2] = extents[i2]; + } +} + +static void Case000(Point& rkPnt, const Point& extents, float& rfSqrDistance) +{ + float fDelta; + + if(rkPnt.x < -extents.x) + { + fDelta = rkPnt.x + extents.x; + rfSqrDistance += fDelta*fDelta; + rkPnt.x = -extents.x; + } + else if(rkPnt.x > extents.x) + { + fDelta = rkPnt.x - extents.x; + rfSqrDistance += fDelta*fDelta; + rkPnt.x = extents.x; + } + + if(rkPnt.y < -extents.y) + { + fDelta = rkPnt.y + extents.y; + rfSqrDistance += fDelta*fDelta; + rkPnt.y = -extents.y; + } + else if(rkPnt.y > extents.y) + { + fDelta = rkPnt.y - extents.y; + rfSqrDistance += fDelta*fDelta; + rkPnt.y = extents.y; + } + + if(rkPnt.z < -extents.z) + { + fDelta = rkPnt.z + extents.z; + rfSqrDistance += fDelta*fDelta; + rkPnt.z = -extents.z; + } + else if(rkPnt.z > extents.z) + { + fDelta = rkPnt.z - extents.z; + rfSqrDistance += fDelta*fDelta; + rkPnt.z = extents.z; + } +} + +static float SqrDistance(const Ray& rkLine, const Point& center, const Point& extents, float* pfLParam) +{ + // compute coordinates of line in box coordinate system + Point kDiff = rkLine.mOrig - center; + Point kPnt = kDiff; + Point kDir = rkLine.mDir; + + // Apply reflections so that direction vector has nonnegative components. + bool bReflect[3]; + for(int i=0;i<3;i++) + { + if(kDir[i]<0.0f) + { + kPnt[i] = -kPnt[i]; + kDir[i] = -kDir[i]; + bReflect[i] = true; + } + else + { + bReflect[i] = false; + } + } + + float fSqrDistance = 0.0f; + + if(kDir.x>0.0f) + { + if(kDir.y>0.0f) + { + if(kDir.z>0.0f) CaseNoZeros(kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,+) + else Case0(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,0) + } + else + { + if(kDir.z>0.0f) Case0(0, 2, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,+) + else Case00(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,0) + } + } + else + { + if(kDir.y>0.0f) + { + if(kDir.z>0.0f) Case0(1, 2, 0, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,+) + else Case00(1, 0, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,0) + } + else + { + if(kDir.z>0.0f) Case00(2, 0, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,0,+) + else + { + Case000(kPnt, extents, fSqrDistance); // (0,0,0) + if(pfLParam) *pfLParam = 0.0f; + } + } + } + return fSqrDistance; +} + +inline_ float OPC_SegmentOBBSqrDist(const Segment& segment, const Point& c0, const Point& e0) +{ + float fLP; + float fSqrDistance = SqrDistance(Ray(segment.GetOrigin(), segment.ComputeDirection()), c0, e0, &fLP); + if(fLP>=0.0f) + { + if(fLP<=1.0f) return fSqrDistance; + else return OPC_PointAABBSqrDist(segment.mP1, c0, e0); + } + else return OPC_PointAABBSqrDist(segment.mP0, c0, e0); +} + +inline_ BOOL LSSCollider::LSSAABBOverlap(const Point& center, const Point& extents) +{ + // Stats + mNbVolumeBVTests++; + + float s2 = OPC_SegmentOBBSqrDist(mSeg, center, extents); + if(s2