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/*************************************************************************
* *
* 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 <ode/common.h>
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>
#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
//****************************************************************************
// sphere public API
dxSphere::dxSphere (dSpaceID space, dReal _radius) : dxGeom (space,1)
{
dAASSERT (_radius > 0);
type = dSphereClass;
radius = _radius;
}
void dxSphere::computeAABB()
{
aabb[0] = final_posr->pos[0] - radius;
aabb[1] = final_posr->pos[0] + radius;
aabb[2] = final_posr->pos[1] - radius;
aabb[3] = final_posr->pos[1] + radius;
aabb[4] = final_posr->pos[2] - radius;
aabb[5] = final_posr->pos[2] + radius;
}
dGeomID dCreateSphere (dSpaceID space, dReal radius)
{
return new dxSphere (space,radius);
}
void dGeomSphereSetRadius (dGeomID g, dReal radius)
{
dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
dAASSERT (radius > 0);
dxSphere *s = (dxSphere*) g;
s->radius = radius;
dGeomMoved (g);
}
dReal dGeomSphereGetRadius (dGeomID g)
{
dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
dxSphere *s = (dxSphere*) g;
return s->radius;
}
dReal dGeomSpherePointDepth (dGeomID g, dReal x, dReal y, dReal z)
{
dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
g->recomputePosr();
dxSphere *s = (dxSphere*) g;
dReal * pos = s->final_posr->pos;
return s->radius - dSqrt ((x-pos[0])*(x-pos[0]) +
(y-pos[1])*(y-pos[1]) +
(z-pos[2])*(z-pos[2]));
}
//****************************************************************************
// pairwise collision functions for standard geom types
int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dSphereClass);
dIASSERT (o2->type == dSphereClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
dxSphere *sphere1 = (dxSphere*) o1;
dxSphere *sphere2 = (dxSphere*) o2;
contact->g1 = o1;
contact->g2 = o2;
return dCollideSpheres (o1->final_posr->pos,sphere1->radius,
o2->final_posr->pos,sphere2->radius,contact);
}
int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dSphereClass);
dIASSERT (o2->type == dBoxClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
// this is easy. get the sphere center `p' relative to the box, and then clip
// that to the boundary of the box (call that point `q'). if q is on the
// boundary of the box and |p-q| is <= sphere radius, they touch.
// if q is inside the box, the sphere is inside the box, so set a contact
// normal to push the sphere to the closest box face.
dVector3 l,t,p,q,r;
dReal depth;
int onborder = 0;
dxSphere *sphere = (dxSphere*) o1;
dxBox *box = (dxBox*) o2;
contact->g1 = o1;
contact->g2 = o2;
p[0] = o1->final_posr->pos[0] - o2->final_posr->pos[0];
p[1] = o1->final_posr->pos[1] - o2->final_posr->pos[1];
p[2] = o1->final_posr->pos[2] - o2->final_posr->pos[2];
l[0] = box->side[0]*REAL(0.5);
t[0] = dDOT14(p,o2->final_posr->R);
if (t[0] < -l[0]) { t[0] = -l[0]; onborder = 1; }
if (t[0] > l[0]) { t[0] = l[0]; onborder = 1; }
l[1] = box->side[1]*REAL(0.5);
t[1] = dDOT14(p,o2->final_posr->R+1);
if (t[1] < -l[1]) { t[1] = -l[1]; onborder = 1; }
if (t[1] > l[1]) { t[1] = l[1]; onborder = 1; }
t[2] = dDOT14(p,o2->final_posr->R+2);
l[2] = box->side[2]*REAL(0.5);
if (t[2] < -l[2]) { t[2] = -l[2]; onborder = 1; }
if (t[2] > l[2]) { t[2] = l[2]; onborder = 1; }
if (!onborder) {
// sphere center inside box. find closest face to `t'
dReal min_distance = l[0] - dFabs(t[0]);
int mini = 0;
for (int i=1; i<3; i++) {
dReal face_distance = l[i] - dFabs(t[i]);
if (face_distance < min_distance) {
min_distance = face_distance;
mini = i;
}
}
// contact position = sphere center
contact->pos[0] = o1->final_posr->pos[0];
contact->pos[1] = o1->final_posr->pos[1];
contact->pos[2] = o1->final_posr->pos[2];
// contact normal points to closest face
dVector3 tmp;
tmp[0] = 0;
tmp[1] = 0;
tmp[2] = 0;
tmp[mini] = (t[mini] > 0) ? REAL(1.0) : REAL(-1.0);
dMULTIPLY0_331 (contact->normal,o2->final_posr->R,tmp);
// contact depth = distance to wall along normal plus radius
contact->depth = min_distance + sphere->radius;
return 1;
}
t[3] = 0; //@@@ hmmm
dMULTIPLY0_331 (q,o2->final_posr->R,t);
r[0] = p[0] - q[0];
r[1] = p[1] - q[1];
r[2] = p[2] - q[2];
depth = sphere->radius - dSqrt(dDOT(r,r));
if (depth < 0) return 0;
contact->pos[0] = q[0] + o2->final_posr->pos[0];
contact->pos[1] = q[1] + o2->final_posr->pos[1];
contact->pos[2] = q[2] + o2->final_posr->pos[2];
contact->normal[0] = r[0];
contact->normal[1] = r[1];
contact->normal[2] = r[2];
dNormalize3 (contact->normal);
contact->depth = depth;
return 1;
}
int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dSphereClass);
dIASSERT (o2->type == dPlaneClass);
dIASSERT ((flags & NUMC_MASK) >= 1);
dxSphere *sphere = (dxSphere*) o1;
dxPlane *plane = (dxPlane*) o2;
contact->g1 = o1;
contact->g2 = o2;
dReal k = dDOT (o1->final_posr->pos,plane->p);
dReal depth = plane->p[3] - k + sphere->radius;
if (depth >= 0) {
contact->normal[0] = plane->p[0];
contact->normal[1] = plane->p[1];
contact->normal[2] = plane->p[2];
contact->pos[0] = o1->final_posr->pos[0] - plane->p[0] * sphere->radius;
contact->pos[1] = o1->final_posr->pos[1] - plane->p[1] * sphere->radius;
contact->pos[2] = o1->final_posr->pos[2] - plane->p[2] * sphere->radius;
contact->depth = depth;
return 1;
}
else return 0;
}
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