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_PlanesCollider.cpp | 653 ++++++++++++++++++++++++ 1 file changed, 653 insertions(+) create mode 100644 libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp (limited to 'libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp') diff --git a/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp b/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp new file mode 100644 index 0000000..60d7f9c --- /dev/null +++ b/libraries/ode-0.9/OPCODE/OPC_PlanesCollider.cpp @@ -0,0 +1,653 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a planes collider. + * \file OPC_PlanesCollider.cpp + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a Planes-vs-tree collider. + * + * \class PlanesCollider + * \author Pierre Terdiman + * \version 1.3 + * \date January, 1st, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +#include "OPC_PlanesAABBOverlap.h" +#include "OPC_PlanesTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + /* Set contact status */ \ + mFlags |= flag; \ + mTouchedPrimitives->Add(udword(prim_index)); + +//! Planes-triangle test +#define PLANES_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + mIMesh->GetTriangle(mVP, prim_index); \ + /* Perform triangle-box overlap test */ \ + if(PlanesTriOverlap(clip_mask)) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +PlanesCollider::PlanesCollider() : + mPlanes (null), + mNbPlanes (0) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +PlanesCollider::~PlanesCollider() +{ + DELETEARRAY(mPlanes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings and callbacks have been defined. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* PlanesCollider::ValidateSettings() +{ + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; + + return VolumeCollider::ValidateSettings(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a planes cache + * \param planes [in] list of planes in world space + * \param nb_planes [in] number of planes + * \param model [in] Opcode model to collide with + * \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 PlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, planes, nb_planes, worldm)) return true; + + udword PlaneMask = (1<mCenterCoeff; + mExtentsCoeff = Tree->mExtentsCoeff; + + // Perform collision query + if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + else + { + const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); + + // Perform collision query + if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + } + 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(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + else + { + const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); + + // Perform collision query + if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes a collision query : + * - reset stats & contact status + * - compute planes in model space + * - check temporal coherence + * + * \param cache [in/out] a planes cache + * \param planes [in] list of planes + * \param nb_planes [in] number of planes + * \param worldm [in] model's world matrix, or null + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL PlanesCollider::InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Compute planes in model space + if(nb_planes>mNbPlanes) + { + DELETEARRAY(mPlanes); + mPlanes = new Plane[nb_planes]; + } + mNbPlanes = nb_planes; + + if(worldm) + { + Matrix4x4 InvWorldM; + InvertPRMatrix(InvWorldM, *worldm); + +// for(udword i=0;iHasSingleNode()) + { + 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 planes (and set contact status if needed) + udword clip_mask = (1< 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 planes (and set contact status if needed) + udword clip_mask = (1< we'll have to perform a normal query + } + else mTouchedPrimitives->Reset(); + } + else + { + // Here we don't use temporal coherence => do a normal query + mTouchedPrimitives->Reset(); + } + + return FALSE; +} + +#define TEST_CLIP_MASK \ + /* If the box is completely included, so are its children. We don't need to do extra tests, we */ \ + /* can immediately output a list of visible children. Those ones won't need to be clipped. */ \ + if(!OutClipMask) \ + { \ + /* Set contact status */ \ + mFlags |= OPC_CONTACT; \ + _Dump(node); \ + return; \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBCollisionNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _Collide(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBQuantizedNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _Collide(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->IsLeaf()) + { + SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBNoLeafNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } + else _Collide(node->GetNeg(), OutClipMask); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask) +{ + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } + else _Collide(node->GetNeg(), OutClipMask); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask) +{ + // 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); + + // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. + udword OutClipMask; + if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; + + TEST_CLIP_MASK + + // Else the box straddles one or several planes, so we need to recurse down the tree. + if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } + else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); +} + + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridPlanesCollider::HybridPlanesCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridPlanesCollider::~HybridPlanesCollider() +{ +} + +bool HybridPlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, 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, planes, nb_planes, 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 + udword clip_mask = (1<mCenterCoeff; + mExtentsCoeff = Tree->mExtentsCoeff; + + // Perform collision query - we don't want primitive tests here! + _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + } + else + { + const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); + + // Perform collision query - we don't want primitive tests here! + _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + } + } + 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(), PlaneMask); + } + else + { + const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); + + // Perform collision query - we don't want primitive tests here! + _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); + } + } + + // 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 + udword clip_mask = (1<