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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
* *
*************************************************************************/
/*
some useful collision utility stuff.
*/
#ifndef _ODE_COLLISION_UTIL_H_
#define _ODE_COLLISION_UTIL_H_
#include <ode/common.h>
#include <ode/contact.h>
#include <ode/odemath.h>
#include <ode/rotation.h>
// given a pointer `p' to a dContactGeom, return the dContactGeom at
// p + skip bytes.
#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
#if 1
#include "collision_kernel.h"
// Fetches a contact
inline dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
dIASSERT(Index >= 0 && Index < (Flags & NUMC_MASK));
return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
}
#endif
// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and
// return 1, else return 0.
int dCollideSpheres (dVector3 p1, dReal r1,
dVector3 p2, dReal r2, dContactGeom *c);
// given two lines
// qa = pa + alpha* ua
// qb = pb + beta * ub
// where pa,pb are two points, ua,ub are two unit length vectors, and alpha,
// beta go from [-inf,inf], return alpha and beta such that qa and qb are
// as close as possible
void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
const dVector3 pb, const dVector3 ub,
dReal *alpha, dReal *beta);
// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length
// vector 'side'), compute the points of closest approach between the box
// and the line. return these points in 'lret' (the point on the line) and
// 'bret' (the point on the box). if the line actually penetrates the box
// then the solution is not unique, but only one solution will be returned.
// in this case the solution points will coincide.
void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
const dVector3 c, const dMatrix3 R,
const dVector3 side,
dVector3 lret, dVector3 bret);
// 20 Apr 2004
// Start code by Nguyen Binh
int dClipEdgeToPlane(dVector3 &vEpnt0, dVector3 &vEpnt1, const dVector4& plPlane);
// clip polygon with plane and generate new polygon points
void dClipPolyToPlane(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane );
void dClipPolyToCircle(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane ,dReal fRadius);
// Some vector math
inline void dVector3Subtract(const dVector3& a,const dVector3& b,dVector3& c)
{
c[0] = a[0] - b[0];
c[1] = a[1] - b[1];
c[2] = a[2] - b[2];
}
// Some vector math
inline void dVector3Scale(dVector3& a,dReal nScale)
{
a[0] *= nScale ;
a[1] *= nScale ;
a[2] *= nScale ;
}
inline void dVector3Add(const dVector3& a,const dVector3& b,dVector3& c)
{
c[0] = a[0] + b[0];
c[1] = a[1] + b[1];
c[2] = a[2] + b[2];
}
inline void dVector3Copy(const dVector3& a,dVector3& c)
{
c[0] = a[0];
c[1] = a[1];
c[2] = a[2];
}
inline void dVector3Cross(const dVector3& a,const dVector3& b,dVector3& c)
{
dCROSS(c,=,a,b);
}
inline dReal dVector3Length(const dVector3& a)
{
return dSqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);
}
inline dReal dVector3Dot(const dVector3& a,const dVector3& b)
{
return dDOT(a,b);
}
inline void dVector3Inv(dVector3& a)
{
a[0] = -a[0];
a[1] = -a[1];
a[2] = -a[2];
}
inline dReal dVector3Length2(const dVector3& a)
{
return (a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);
}
inline void dMat3GetCol(const dMatrix3& m,const int col, dVector3& v)
{
v[0] = m[col + 0];
v[1] = m[col + 4];
v[2] = m[col + 8];
}
inline void dVector3CrossMat3Col(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
{
r[0] = v[1] * m[2*4 + col] - v[2] * m[1*4 + col];
r[1] = v[2] * m[0*4 + col] - v[0] * m[2*4 + col];
r[2] = v[0] * m[1*4 + col] - v[1] * m[0*4 + col];
}
inline void dMat3ColCrossVector3(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
{
r[0] = v[2] * m[1*4 + col] - v[1] * m[2*4 + col];
r[1] = v[0] * m[2*4 + col] - v[2] * m[0*4 + col];
r[2] = v[1] * m[0*4 + col] - v[0] * m[1*4 + col];
}
inline void dMultiplyMat3Vec3(const dMatrix3& m,const dVector3& v, dVector3& r)
{
dMULTIPLY0_331(r,m,v);
}
inline dReal dPointPlaneDistance(const dVector3& point,const dVector4& plane)
{
return (plane[0]*point[0] + plane[1]*point[1] + plane[2]*point[2] + plane[3]);
}
inline void dConstructPlane(const dVector3& normal,const dReal& distance, dVector4& plane)
{
plane[0] = normal[0];
plane[1] = normal[1];
plane[2] = normal[2];
plane[3] = distance;
}
inline void dMatrix3Copy(const dReal* source,dMatrix3& dest)
{
dest[0] = source[0];
dest[1] = source[1];
dest[2] = source[2];
dest[4] = source[4];
dest[5] = source[5];
dest[6] = source[6];
dest[8] = source[8];
dest[9] = source[9];
dest[10]= source[10];
}
inline dReal dMatrix3Det( const dMatrix3& mat )
{
dReal det;
det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] )
- mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] )
+ mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] );
return( det );
}
inline void dMatrix3Inv( const dMatrix3& ma, dMatrix3& dst )
{
dReal det = dMatrix3Det( ma );
if ( dFabs( det ) < REAL(0.0005) )
{
dRSetIdentity( dst );
return;
}
dst[0] = ma[5]*ma[10] - ma[6]*ma[9] / det;
dst[1] = -( ma[1]*ma[10] - ma[9]*ma[2] ) / det;
dst[2] = ma[1]*ma[6] - ma[5]*ma[2] / det;
dst[4] = -( ma[4]*ma[10] - ma[6]*ma[8] ) / det;
dst[5] = ma[0]*ma[10] - ma[8]*ma[2] / det;
dst[6] = -( ma[0]*ma[6] - ma[4]*ma[2] ) / det;
dst[8] = ma[4]*ma[9] - ma[8]*ma[5] / det;
dst[9] = -( ma[0]*ma[9] - ma[8]*ma[1] ) / det;
dst[10] = ma[0]*ma[5] - ma[1]*ma[4] / det;
}
inline void dQuatTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
{
// Nguyen Binh : this code seem to be the fastest.
dReal x0 = source[0] * quat[0] + source[2] * quat[2] - source[1] * quat[3];
dReal x1 = source[1] * quat[0] + source[0] * quat[3] - source[2] * quat[1];
dReal x2 = source[2] * quat[0] + source[1] * quat[1] - source[0] * quat[2];
dReal x3 = source[0] * quat[1] + source[1] * quat[2] + source[2] * quat[3];
dest[0] = quat[0] * x0 + quat[1] * x3 + quat[2] * x2 - quat[3] * x1;
dest[1] = quat[0] * x1 + quat[2] * x3 + quat[3] * x0 - quat[1] * x2;
dest[2] = quat[0] * x2 + quat[3] * x3 + quat[1] * x1 - quat[2] * x0;
/*
// nVidia SDK implementation
dVector3 uv, uuv;
dVector3 qvec;
qvec[0] = quat[1];
qvec[1] = quat[2];
qvec[2] = quat[3];
dVector3Cross(qvec,source,uv);
dVector3Cross(qvec,uv,uuv);
dVector3Scale(uv,REAL(2.0)*quat[0]);
dVector3Scale(uuv,REAL(2.0));
dest[0] = source[0] + uv[0] + uuv[0];
dest[1] = source[1] + uv[1] + uuv[1];
dest[2] = source[2] + uv[2] + uuv[2];
*/
}
inline void dQuatInvTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
{
dReal norm = quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3];
if (norm > REAL(0.0))
{
dQuaternion invQuat;
invQuat[0] = quat[0] / norm;
invQuat[1] = -quat[1] / norm;
invQuat[2] = -quat[2] / norm;
invQuat[3] = -quat[3] / norm;
dQuatTransform(invQuat,source,dest);
}
else
{
// Singular -> return identity
dVector3Copy(source,dest);
}
}
inline void dGetEulerAngleFromRot(const dMatrix3& mRot,dReal& rX,dReal& rY,dReal& rZ)
{
rY = asin(mRot[0 * 4 + 2]);
if (rY < M_PI /2)
{
if (rY > -M_PI /2)
{
rX = atan2(-mRot[1*4 + 2], mRot[2*4 + 2]);
rZ = atan2(-mRot[0*4 + 1], mRot[0*4 + 0]);
}
else
{
// not unique
rX = -atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
rZ = REAL(0.0);
}
}
else
{
// not unique
rX = atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
rZ = REAL(0.0);
}
}
inline void dQuatInv(const dQuaternion& source, dQuaternion& dest)
{
dReal norm = source[0]*source[0] + source[1]*source[1] + source[2]*source[2] + source[3]*source[3];
if (norm > 0.0f)
{
dest[0] = source[0] / norm;
dest[1] = -source[1] / norm;
dest[2] = -source[2] / norm;
dest[3] = -source[3] / norm;
}
else
{
// Singular -> return identity
dest[0] = REAL(1.0);
dest[1] = REAL(0.0);
dest[2] = REAL(0.0);
dest[3] = REAL(0.0);
}
}
#endif
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