add ode

1 files changed, 696 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.cpp
new file mode 100644
index 0000000..a192311
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.cpp
@@ -0,0 +1,696 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for an AABB collider.
+ *	\file		OPC_AABBCollider.cpp
+ *	\author		Pierre Terdiman
+ *	\date		January, 1st, 2002
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains an AABB-vs-tree collider.
+ *
+ *	\class		AABBCollider
+ *	\author		Pierre Terdiman
+ *	\version	1.3
+ *	\date		January, 1st, 2002
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+#include "OPC_BoxBoxOverlap.h"
+#include "OPC_TriBoxOverlap.h"
+
+#define SET_CONTACT(prim_index, flag)						\
+	/* Set contact status */								\
+	mFlags |= flag;											\
+	mTouchedPrimitives->Add(udword(prim_index));
+
+//! AABB-triangle test
+#define AABB_PRIM(prim_index, flag)							\
+	/* Request vertices from the app */						\
+	VertexPointers VP;	ConversionArea VC;	mIMesh->GetTriangle(VP, prim_index, VC); \
+	mLeafVerts[0] = *VP.Vertex[0];							\
+	mLeafVerts[1] = *VP.Vertex[1];							\
+	mLeafVerts[2] = *VP.Vertex[2];							\
+	/* Perform triangle-box overlap test */					\
+	if(TriBoxOverlap())										\
+	{														\
+		SET_CONTACT(prim_index, flag)						\
+	}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+AABBCollider::AABBCollider()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+AABBCollider::~AABBCollider()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Generic collision query for generic OPCODE models. After the call, access the results:
+ *	- with GetContactStatus()
+ *	- with GetNbTouchedPrimitives()
+ *	- with GetTouchedPrimitives()
+ *
+ *	\param		cache		[in/out] a box cache
+ *	\param		box			[in] collision AABB in world space
+ *	\param		model		[in] Opcode model to collide with
+ *	\return		true if success
+ *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const Model& model)
+{
+	// Checkings
+	if(!Setup(&model))	return false;
+
+	// Init collision query
+	if(InitQuery(cache, box))	return true;
+
+	if(!model.HasLeafNodes())
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedNoLeafTree* Tree = static_cast<const AABBQuantizedNoLeafTree *>(model.GetTree());
+
+			// Setup dequantization coeffs
+			mCenterCoeff	= Tree->mCenterCoeff;
+			mExtentsCoeff	= Tree->mExtentsCoeff;
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+		else
+		{
+			const AABBNoLeafTree* Tree = static_cast<const AABBNoLeafTree *>(model.GetTree());
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+	}
+	else
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedTree* Tree = static_cast<const AABBQuantizedTree *>(model.GetTree());
+
+			// Setup dequantization coeffs
+			mCenterCoeff	= Tree->mCenterCoeff;
+			mExtentsCoeff	= Tree->mExtentsCoeff;
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+		else
+		{
+			const AABBCollisionTree* Tree = static_cast<const AABBCollisionTree *>(model.GetTree());
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+	}
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Initializes a collision query :
+ *	- reset stats & contact status
+ *	- check temporal coherence
+ *
+ *	\param		cache		[in/out] a box cache
+ *	\param		box			[in] AABB in world space
+ *	\return		TRUE if we can return immediately
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+BOOL AABBCollider::InitQuery(AABBCache& cache, const CollisionAABB& box)
+{
+	// 1) Call the base method
+	VolumeCollider::InitQuery();
+
+	// 2) Keep track of the query box
+	mBox = box;
+
+	// 3) Setup destination pointer
+	mTouchedPrimitives = &cache.TouchedPrimitives;
+
+	// 4) Special case: 1-triangle meshes [Opcode 1.3]
+	if(mCurrentModel && mCurrentModel->HasSingleNode())
+	{
+		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 box (and set contact status if needed)
+			AABB_PRIM(udword(0), OPC_CONTACT)
+
+			// Return immediately regardless of status
+			return TRUE;
+		}
+	}
+
+	// 5) Check temporal coherence :
+	if(TemporalCoherenceEnabled())
+	{
+		// Here we use temporal coherence
+		// => 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 box (and set contact status if needed)
+				AABB_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)
+
+				// Return immediately if possible
+				if(GetContactStatus())	return TRUE;
+			}
+			// else no face has been touched during previous query
+			// => we'll have to perform a normal query
+		}
+		else
+		{
+			// We're interested in all contacts =>test the new real box N(ew) against the previous fat box P(revious):
+			if(IsCacheValid(cache) && mBox.IsInside(cache.FatBox))
+			{
+				// - if N is included in P, return previous list
+				// => we simply leave the list (mTouchedFaces) unchanged
+
+				// Set contact status if needed
+				if(mTouchedPrimitives->GetNbEntries())	mFlags |= OPC_TEMPORAL_CONTACT;
+
+				// In any case we don't need to do a query
+				return TRUE;
+			}
+			else
+			{
+				// - else do the query using a fat N
+
+				// Reset cache since we'll about to perform a real query
+				mTouchedPrimitives->Reset();
+
+				// Make a fat box so that coherence will work for subsequent frames
+				mBox.mExtents *= cache.FatCoeff;
+
+				// Update cache with query data (signature for cached faces)
+				cache.FatBox = mBox;
+			}
+		}
+	}
+	else
+	{
+		// Here we don't use temporal coherence => do a normal query
+		mTouchedPrimitives->Reset();
+	}
+
+	// 5) Precompute min & max bounds if needed
+	mMin = box.mCenter - box.mExtents;
+	mMax = box.mCenter + box.mExtents;
+
+	return FALSE;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Collision query for vanilla AABB trees.
+ *	\param		cache		[in/out] a box cache
+ *	\param		box			[in] collision AABB in world space
+ *	\param		tree		[in] AABB tree
+ *	\return		true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree)
+{
+	// This is typically called for a scene tree, full of -AABBs-, not full of triangles.
+	// So we don't really have "primitives" to deal with. Hence it doesn't work with
+	// "FirstContact" + "TemporalCoherence".
+	ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) );
+
+	// Checkings
+	if(!tree)	return false;
+
+	// Init collision query
+	if(InitQuery(cache, box))	return true;
+
+	// Perform collision query
+	_Collide(tree);
+
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Checks the AABB completely contains the box. In which case we can end the query sooner.
+ *	\param		bc	[in] box center
+ *	\param		be	[in] box extents
+ *	\return		true if the AABB contains the whole box
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL AABBCollider::AABBContainsBox(const Point& bc, const Point& be)
+{
+	if(mMin.x > bc.x - be.x)	return FALSE;
+	if(mMin.y > bc.y - be.y)	return FALSE;
+	if(mMin.z > bc.z - be.z)	return FALSE;
+
+	if(mMax.x < bc.x + be.x)	return FALSE;
+	if(mMax.y < bc.y + be.y)	return FALSE;
+	if(mMax.z < bc.z + be.z)	return FALSE;
+
+	return TRUE;
+}
+
+#define TEST_BOX_IN_AABB(center, extents)	\
+	if(AABBContainsBox(center, extents))	\
+	{										\
+		/* Set contact status */			\
+		mFlags |= OPC_CONTACT;				\
+		_Dump(node);						\
+		return;								\
+	}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for normal AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_Collide(const AABBCollisionNode* node)
+{
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter))	return;
+
+	TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->IsLeaf())
+	{
+		AABB_PRIM(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_Collide(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_Collide(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for normal AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
+{
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter))	return;
+
+	TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->IsLeaf())
+	{
+		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_CollideNoPrimitiveTest(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_CollideNoPrimitiveTest(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_Collide(const AABBQuantizedNode* node)
+{
+	// 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);
+
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(Extents, Center))	return;
+
+	TEST_BOX_IN_AABB(Center, Extents)
+
+	if(node->IsLeaf())
+	{
+		AABB_PRIM(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_Collide(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_Collide(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node)
+{
+	// 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);
+
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(Extents, Center))	return;
+
+	TEST_BOX_IN_AABB(Center, Extents)
+
+	if(node->IsLeaf())
+	{
+		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_CollideNoPrimitiveTest(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_CollideNoPrimitiveTest(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for no-leaf AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_Collide(const AABBNoLeafNode* node)
+{
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter))	return;
+
+	TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->HasPosLeaf())	{ AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ AABB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for no-leaf AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
+{
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter))	return;
+
+	TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized no-leaf AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_Collide(const AABBQuantizedNoLeafNode* node)
+{
+	// 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);
+
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(Extents, Center))	return;
+
+	TEST_BOX_IN_AABB(Center, Extents)
+
+	if(node->HasPosLeaf())	{ AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ AABB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized no-leaf AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node)
+{
+	// 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);
+
+	// Perform AABB-AABB overlap test
+	if(!AABBAABBOverlap(Extents, Center))	return;
+
+	TEST_BOX_IN_AABB(Center, Extents)
+
+	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for vanilla AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABBCollider::_Collide(const AABBTreeNode* node)
+{
+	// Perform AABB-AABB overlap test
+	Point Center, Extents;
+	node->GetAABB()->GetCenter(Center);
+	node->GetAABB()->GetExtents(Extents);
+	if(!AABBAABBOverlap(Center, Extents))	return;
+
+	if(node->IsLeaf() || AABBContainsBox(Center, Extents))
+	{
+		mFlags |= OPC_CONTACT;
+		mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
+	}
+	else
+	{
+		_Collide(node->GetPos());
+		_Collide(node->GetNeg());
+	}
+}
+
+
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridAABBCollider::HybridAABBCollider()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridAABBCollider::~HybridAABBCollider()
+{
+}
+
+bool HybridAABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model)
+{
+	// We don't want primitive tests here!
+	mFlags |= OPC_NO_PRIMITIVE_TESTS;
+
+	// Checkings
+	if(!Setup(&model))	return false;
+
+	// Init collision query
+	if(InitQuery(cache, box))	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
+		for(udword i=0;i<Nb;i++)
+		{
+			AABB_PRIM(i, OPC_CONTACT)
+		}
+		return true;
+	}
+
+	// Override destination array since we're only going to get leaf boxes here
+	mTouchedBoxes.Reset();
+	mTouchedPrimitives = &mTouchedBoxes;
+
+	// Now, do the actual query against leaf boxes
+	if(!model.HasLeafNodes())
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedNoLeafTree* Tree = static_cast<const AABBQuantizedNoLeafTree *>(model.GetTree());
+
+			// Setup dequantization coeffs
+			mCenterCoeff	= Tree->mCenterCoeff;
+			mExtentsCoeff	= Tree->mExtentsCoeff;
+
+			// Perform collision query - we don't want primitive tests here!
+			_CollideNoPrimitiveTest(Tree->GetNodes());
+		}
+		else
+		{
+			const AABBNoLeafTree* Tree = static_cast<const AABBNoLeafTree *>(model.GetTree());
+
+			// Perform collision query - we don't want primitive tests here!
+			_CollideNoPrimitiveTest(Tree->GetNodes());
+		}
+	}
+	else
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedTree* Tree = static_cast<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());
+		}
+		else
+		{
+			const AABBCollisionTree* Tree = static_cast<const AABBCollisionTree *>(model.GetTree());
+
+			// Perform collision query - we don't want primitive tests here!
+			_CollideNoPrimitiveTest(Tree->GetNodes());
+		}
+	}
+
+	// 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
+		while(Nb--)
+		{
+			const LeafTriangles& CurrentLeaf = LT[*Touched++];
+
+			// Each leaf box has a set of triangles
+			udword NbTris = CurrentLeaf.GetNbTriangles();
+			if(Indices)
+			{
+				const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
+
+				// Loop through triangles and test each of them
+				while(NbTris--)
+				{
+					udword TriangleIndex = *T++;
+					AABB_PRIM(TriangleIndex, OPC_CONTACT)
+				}
+			}
+			else
+			{
+				udword BaseIndex = CurrentLeaf.GetTriangleIndex();
+
+				// Loop through triangles and test each of them
+				while(NbTris--)
+				{
+					udword TriangleIndex = BaseIndex++;
+					AABB_PRIM(TriangleIndex, OPC_CONTACT)
+				}
+			}
+		}
+	}
+
+	return true;
+}