diff options
| author | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
|---|---|---|
| committer | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
| commit | c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch) | |
| tree | 277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/OPCODE | |
| parent | 1cf9cc3408af7008451f9133fb95af66a9697d15 (diff) | |
add ode
Diffstat (limited to 'libs/ode-0.16.1/OPCODE')
99 files changed, 23404 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/COPYING b/libs/ode-0.16.1/OPCODE/COPYING new file mode 100644 index 0000000..54a62aa --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/COPYING @@ -0,0 +1,30 @@ +The OPCODE library distributed as part of ODE is licensed under +the same terms as ODE (LGPLv2.1+ and BSD). + +Quoting a public e-mail from the author: + + Re: TriMesh support and OPCODE added to ODE core + Pierre Terdiman <p.terdiman <at> wanadoo.fr> + 2003-07-01 21:18:44 GMT + + > If he wants + > to explicitly make it clear that OpCode is good under ODE's + > license, that would be A-1 Super... + + "Opcode is good under ODE's license" + + I didn't put a license to prevent boring questions about licenses, but it + seems it's not enough - I still get as many questions, regarding missing + license. + + The only thing that would NOT be good would be renaming it "TopCode", + changing the author's name, selling it at a very expensive price, and still + managing to make money out of it :) + + ...I should add a license explicitely against this :) + + Pierre + +Source: + http://permalink.gmane.org/gmane.comp.lib.ode/3237 + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp new file mode 100644 index 0000000..d96cd88 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp @@ -0,0 +1,405 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains AABB-related code. + * \file IceAABB.cpp + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * AABB class. + * \class AABB + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the sum of two AABBs. + * \param aabb [in] the other AABB + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABB& AABB::Add(const AABB& aabb) +{ + // Compute new min & max values + Point Min; GetMin(Min); + Point Tmp; aabb.GetMin(Tmp); + Min.Min(Tmp); + + Point Max; GetMax(Max); + aabb.GetMax(Tmp); + Max.Max(Tmp); + + // Update this + SetMinMax(Min, Max); + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Makes a cube from the AABB. + * \param cube [out] the cube AABB + * \return cube edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABB::MakeCube(AABB& cube) const +{ + Point Ext; GetExtents(Ext); + float Max = Ext.Max(); + + Point Cnt; GetCenter(Cnt); + cube.SetCenterExtents(Cnt, Point(Max, Max, Max)); + return Max; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Makes a sphere from the AABB. + * \param sphere [out] sphere containing the AABB + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABB::MakeSphere(Sphere& sphere) const +{ + GetExtents(sphere.mCenter); + sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f; // To make sure sphere::Contains(*this) succeeds + GetCenter(sphere.mCenter); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks a box is inside another box. + * \param box [in] the other AABB + * \return true if current box is inside input box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::IsInside(const AABB& box) const +{ + if(box.GetMin(0)>GetMin(0)) return false; + if(box.GetMin(1)>GetMin(1)) return false; + if(box.GetMin(2)>GetMin(2)) return false; + if(box.GetMax(0)<GetMax(0)) return false; + if(box.GetMax(1)<GetMax(1)) return false; + if(box.GetMax(2)<GetMax(2)) return false; + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB planes. + * \param planes [out] 6 planes surrounding the box + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::ComputePlanes(Plane* planes) const +{ + // Checkings + if(!planes) return false; + + Point Center, Extents; + GetCenter(Center); + GetExtents(Extents); + + // Writes normals + planes[0].n = Point(1.0f, 0.0f, 0.0f); + planes[1].n = Point(-1.0f, 0.0f, 0.0f); + planes[2].n = Point(0.0f, 1.0f, 0.0f); + planes[3].n = Point(0.0f, -1.0f, 0.0f); + planes[4].n = Point(0.0f, 0.0f, 1.0f); + planes[5].n = Point(0.0f, 0.0f, -1.0f); + + // Compute a point on each plane + Point p0 = Point(Center.x+Extents.x, Center.y, Center.z); + Point p1 = Point(Center.x-Extents.x, Center.y, Center.z); + Point p2 = Point(Center.x, Center.y+Extents.y, Center.z); + Point p3 = Point(Center.x, Center.y-Extents.y, Center.z); + Point p4 = Point(Center.x, Center.y, Center.z+Extents.z); + Point p5 = Point(Center.x, Center.y, Center.z-Extents.z); + + // Compute d + planes[0].d = -(planes[0].n|p0); + planes[1].d = -(planes[1].n|p1); + planes[2].d = -(planes[2].n|p2); + planes[3].d = -(planes[3].n|p3); + planes[4].d = -(planes[4].n|p4); + planes[5].d = -(planes[5].n|p5); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the aabb points. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::ComputePoints(Point* pts) const +{ + // Checkings + if(!pts) return false; + + // Get box corners + Point min; GetMin(min); + Point max; GetMax(max); + + // 7+------+6 0 = --- + // /| /| 1 = +-- + // / | / | 2 = ++- + // / 4+---/--+5 3 = -+- + // 3+------+2 / y z 4 = --+ + // | / | / | / 5 = +-+ + // |/ |/ |/ 6 = +++ + // 0+------+1 *---x 7 = -++ + + // Generate 8 corners of the bbox + pts[0] = Point(min.x, min.y, min.z); + pts[1] = Point(max.x, min.y, min.z); + pts[2] = Point(max.x, max.y, min.z); + pts[3] = Point(min.x, max.y, min.z); + pts[4] = Point(min.x, min.y, max.z); + pts[5] = Point(max.x, min.y, max.z); + pts[6] = Point(max.x, max.y, max.z); + pts[7] = Point(min.x, max.y, max.z); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets vertex normals. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const Point* AABB::GetVertexNormals() const +{ + static const float VertexNormals[] = + { + -INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, INVSQRT3, INVSQRT3, + -INVSQRT3, INVSQRT3, INVSQRT3 + }; + return (const Point*)VertexNormals; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edges. + * \return 24 indices (12 edges) indexing the list returned by ComputePoints() + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const udword* AABB::GetEdges() const +{ + static const udword Indices[] = { + 0, 1, 1, 2, 2, 3, 3, 0, + 7, 6, 6, 5, 5, 4, 4, 7, + 1, 5, 6, 2, + 3, 7, 4, 0 + }; + return Indices; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edge normals. + * \return edge normals in local space + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const Point* AABB::GetEdgeNormals() const +{ + static const float EdgeNormals[] = + { + 0, -INVSQRT2, -INVSQRT2, // 0-1 + INVSQRT2, 0, -INVSQRT2, // 1-2 + 0, INVSQRT2, -INVSQRT2, // 2-3 + -INVSQRT2, 0, -INVSQRT2, // 3-0 + + 0, INVSQRT2, INVSQRT2, // 7-6 + INVSQRT2, 0, INVSQRT2, // 6-5 + 0, -INVSQRT2, INVSQRT2, // 5-4 + -INVSQRT2, 0, INVSQRT2, // 4-7 + + INVSQRT2, -INVSQRT2, 0, // 1-5 + INVSQRT2, INVSQRT2, 0, // 6-2 + -INVSQRT2, INVSQRT2, 0, // 3-7 + -INVSQRT2, -INVSQRT2, 0 // 4-0 + }; + return (const Point*)EdgeNormals; +} + +// =========================================================================== +// (C) 1996-98 Vienna University of Technology +// =========================================================================== +// NAME: bboxarea +// TYPE: c++ code +// PROJECT: Bounding Box Area +// CONTENT: Computes area of 2D projection of 3D oriented bounding box +// VERSION: 1.0 +// =========================================================================== +// AUTHORS: ds Dieter Schmalstieg +// ep Erik Pojar +// =========================================================================== +// HISTORY: +// +// 19-sep-99 15:23:03 ds last modification +// 01-dec-98 15:23:03 ep created +// =========================================================================== + +//---------------------------------------------------------------------------- +// SAMPLE CODE STARTS HERE +//---------------------------------------------------------------------------- + +// NOTE: This sample program requires OPEN INVENTOR! + +//indexlist: this table stores the 64 possible cases of classification of +//the eyepoint with respect to the 6 defining planes of the bbox (2^6=64) +//only 26 (3^3-1, where 1 is "inside" cube) of these cases are valid. +//the first 6 numbers in each row are the indices of the bbox vertices that +//form the outline of which we want to compute the area (counterclockwise +//ordering), the 7th entry means the number of vertices in the outline. +//there are 6 cases with a single face and and a 4-vertex outline, and +//20 cases with 2 or 3 faces and a 6-vertex outline. a value of 0 indicates +//an invalid case. + + +// Original list was made of 7 items, I added an 8th element: +// - to padd on a cache line +// - to repeat the first entry to avoid modulos +// +// I also replaced original ints with sbytes. + +static const sbyte gIndexList[64][8] = +{ + {-1,-1,-1,-1,-1,-1,-1, 0}, // 0 inside + { 0, 4, 7, 3, 0,-1,-1, 4}, // 1 left + { 1, 2, 6, 5, 1,-1,-1, 4}, // 2 right + {-1,-1,-1,-1,-1,-1,-1, 0}, // 3 - + { 0, 1, 5, 4, 0,-1,-1, 4}, // 4 bottom + { 0, 1, 5, 4, 7, 3, 0, 6}, // 5 bottom, left + { 0, 1, 2, 6, 5, 4, 0, 6}, // 6 bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, // 7 - + { 2, 3, 7, 6, 2,-1,-1, 4}, // 8 top + { 0, 4, 7, 6, 2, 3, 0, 6}, // 9 top, left + { 1, 2, 3, 7, 6, 5, 1, 6}, //10 top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //11 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //12 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //13 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //14 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //15 - + { 0, 3, 2, 1, 0,-1,-1, 4}, //16 front + { 0, 4, 7, 3, 2, 1, 0, 6}, //17 front, left + { 0, 3, 2, 6, 5, 1, 0, 6}, //18 front, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //19 - + { 0, 3, 2, 1, 5, 4, 0, 6}, //20 front, bottom + { 1, 5, 4, 7, 3, 2, 1, 6}, //21 front, bottom, left + { 0, 3, 2, 6, 5, 4, 0, 6}, //22 front, bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //23 - + { 0, 3, 7, 6, 2, 1, 0, 6}, //24 front, top + { 0, 4, 7, 6, 2, 1, 0, 6}, //25 front, top, left + { 0, 3, 7, 6, 5, 1, 0, 6}, //26 front, top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //27 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //28 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //29 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //30 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //31 - + { 4, 5, 6, 7, 4,-1,-1, 4}, //32 back + { 0, 4, 5, 6, 7, 3, 0, 6}, //33 back, left + { 1, 2, 6, 7, 4, 5, 1, 6}, //34 back, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //35 - + { 0, 1, 5, 6, 7, 4, 0, 6}, //36 back, bottom + { 0, 1, 5, 6, 7, 3, 0, 6}, //37 back, bottom, left + { 0, 1, 2, 6, 7, 4, 0, 6}, //38 back, bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //39 - + { 2, 3, 7, 4, 5, 6, 2, 6}, //40 back, top + { 0, 4, 5, 6, 2, 3, 0, 6}, //41 back, top, left + { 1, 2, 3, 7, 4, 5, 1, 6}, //42 back, top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //43 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //44 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //45 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //46 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //47 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //48 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //49 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //50 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //51 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //52 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //53 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //54 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //55 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //56 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //57 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //58 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //59 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //60 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //61 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //62 invalid + {-1,-1,-1,-1,-1,-1,-1, 0} //63 invalid +}; + +const sbyte* AABB::ComputeOutline(const Point& local_eye, sdword& num) const +{ + // Get box corners + Point min; GetMin(min); + Point max; GetMax(max); + + // Compute 6-bit code to classify eye with respect to the 6 defining planes of the bbox + int pos = ((local_eye.x < min.x) ? 1 : 0) // 1 = left + + ((local_eye.x > max.x) ? 2 : 0) // 2 = right + + ((local_eye.y < min.y) ? 4 : 0) // 4 = bottom + + ((local_eye.y > max.y) ? 8 : 0) // 8 = top + + ((local_eye.z < min.z) ? 16 : 0) // 16 = front + + ((local_eye.z > max.z) ? 32 : 0); // 32 = back + + // Look up number of vertices in outline + num = (sdword)gIndexList[pos][7]; + // Zero indicates invalid case + if(!num) return null; + + return &gIndexList[pos][0]; +} + +// calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box + +//const Point& eye, //eye point (in bbox object coordinates) +//const AABB& box, //3d bbox +//const Matrix4x4& mat, //free transformation for bbox +//float width, float height, int& num) +float AABB::ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num) const +{ + const sbyte* Outline = ComputeOutline(eye, num); + if(!Outline) return -1.0f; + + // Compute box vertices + Point vertexBox[8], dst[8]; + ComputePoints(vertexBox); + + // Transform all outline corners into 2D screen space + for(sdword i=0;i<num;i++) + { + HPoint Projected; + vertexBox[Outline[i]].ProjectToScreen(width, height, mat, Projected); + dst[i] = Projected; + } + + float Sum = (dst[num-1][0] - dst[0][0]) * (dst[num-1][1] + dst[0][1]); + + for(int i=0; i<num-1; i++) + Sum += (dst[i][0] - dst[i+1][0]) * (dst[i][1] + dst[i+1][1]); + + return Sum * 0.5f; //return computed value corrected by 0.5 +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceAABB.h b/libs/ode-0.16.1/OPCODE/Ice/IceAABB.h new file mode 100644 index 0000000..cc8cdf2 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceAABB.h @@ -0,0 +1,514 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains AABB-related code. (axis-aligned bounding box) + * \file IceAABB.h + * \author Pierre Terdiman + * \date January, 13, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEAABB_H__ +#define __ICEAABB_H__ + + // Forward declarations + class Sphere; + +//! Declarations of type-independent methods (most of them implemented in the .cpp) +#define AABB_COMMON_METHODS \ + AABB& Add(const AABB& aabb); \ + float MakeCube(AABB& cube) const; \ + void MakeSphere(Sphere& sphere) const; \ + const sbyte* ComputeOutline(const Point& local_eye, sdword& num) const; \ + float ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num) const; \ + bool IsInside(const AABB& box) const; \ + bool ComputePlanes(Plane* planes) const; \ + bool ComputePoints(Point* pts) const; \ + const Point* GetVertexNormals() const; \ + const udword* GetEdges() const; \ + const Point* GetEdgeNormals() const; \ + inline_ BOOL ContainsPoint(const Point& p) const \ + { \ + if(p.x > GetMax(0) || p.x < GetMin(0)) return FALSE; \ + if(p.y > GetMax(1) || p.y < GetMin(1)) return FALSE; \ + if(p.z > GetMax(2) || p.z < GetMin(2)) return FALSE; \ + return TRUE; \ + } + + enum AABBType + { + AABB_RENDER = 0, //!< AABB used for rendering. Not visible == not rendered. + AABB_UPDATE = 1, //!< AABB used for dynamic updates. Not visible == not updated. + + AABB_FORCE_DWORD = 0x7fffffff, + }; + +#ifdef USE_MINMAX + + struct ICEMATHS_API ShadowAABB + { + Point mMin; + Point mMax; + }; + + class ICEMATHS_API AABB + { + public: + //! Constructor + inline_ AABB() {} + //! Destructor + inline_ ~AABB() {} + + //! Type-independent methods + AABB_COMMON_METHODS; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from min & max vectors. + * \param min [in] the min point + * \param max [in] the max point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetMinMax(const Point& min, const Point& max) { mMin = min; mMax = max; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from center & extents vectors. + * \param c [in] the center point + * \param e [in] the extents vector + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetCenterExtents(const Point& c, const Point& e) { mMin = c - e; mMax = c + e; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an empty AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetEmpty() { Point p(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); mMin = -p; mMax = p;} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups a point AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetPoint(const Point& pt) { mMin = mMax = pt; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the size of the AABB. The size is defined as the longest extent. + * \return the size of the AABB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + float GetSize() const { Point e; GetExtents(e); return e.Max(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Extends the AABB. + * \param p [in] the next point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void Extend(const Point& p) + { + if(p.x > mMax.x) mMax.x = p.x; + if(p.x < mMin.x) mMin.x = p.x; + + if(p.y > mMax.y) mMax.y = p.y; + if(p.y < mMin.y) mMin.y = p.y; + + if(p.z > mMax.z) mMax.z = p.z; + if(p.z < mMin.z) mMin.z = p.z; + } + // Data access + + //! Get min point of the box + inline_ void GetMin(Point& min) const { min = mMin; } + //! Get max point of the box + inline_ void GetMax(Point& max) const { max = mMax; } + + //! Get component of the box's min point along a given axis + inline_ float GetMin(udword axis) const { return mMin[axis]; } + //! Get component of the box's max point along a given axis + inline_ float GetMax(udword axis) const { return mMax[axis]; } + + //! Get box center + inline_ void GetCenter(Point& center) const { center = (mMax + mMin)*0.5f; } + //! Get box extents + inline_ void GetExtents(Point& extents) const { extents = (mMax - mMin)*0.5f; } + + //! Get component of the box's center along a given axis + inline_ float GetCenter(udword axis) const { return (mMax[axis] + mMin[axis])*0.5f; } + //! Get component of the box's extents along a given axis + inline_ float GetExtents(udword axis) const { return (mMax[axis] - mMin[axis])*0.5f; } + + //! Get box diagonal + inline_ void GetDiagonal(Point& diagonal) const { diagonal = mMax - mMin; } + inline_ float GetWidth() const { return mMax.x - mMin.x; } + inline_ float GetHeight() const { return mMax.y - mMin.y; } + inline_ float GetDepth() const { return mMax.z - mMin.z; } + + //! Volume + inline_ float GetVolume() const { return GetWidth() * GetHeight() * GetDepth(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the intersection between two AABBs. + * \param a [in] the other AABB + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a) const + { + if(mMax.x < a.mMin.x + || a.mMax.x < mMin.x + || mMax.y < a.mMin.y + || a.mMax.y < mMin.y + || mMax.z < a.mMin.z + || a.mMax.z < mMin.z) return FALSE; + + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the 1D-intersection between two AABBs, on a given axis. + * \param a [in] the other AABB + * \param axis [in] the axis (0, 1, 2) + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a, udword axis) const + { + if(mMax[axis] < a.mMin[axis] || a.mMax[axis] < mMin[axis]) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. + * Original code by Charles Bloom on the GD-Algorithm list. (I slightly modified it) + * \param mtx [in] the transform matrix + * \param aabb [out] the transformed AABB [can be *this] + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const + { + // The three edges transformed: you can efficiently transform an X-only vector + // by just getting the "X" column of the matrix + Point vx,vy,vz; + mtx.GetRow(0, vx); vx *= (mMax.x - mMin.x); + mtx.GetRow(1, vy); vy *= (mMax.y - mMin.y); + mtx.GetRow(2, vz); vz *= (mMax.z - mMin.z); + + // Transform the min point + aabb.mMin = aabb.mMax = mMin * mtx; + + // Take the transformed min & axes and find new extents + // Using CPU code in the right place is faster... + if(IS_NEGATIVE_FLOAT(vx.x)) aabb.mMin.x += vx.x; else aabb.mMax.x += vx.x; + if(IS_NEGATIVE_FLOAT(vx.y)) aabb.mMin.y += vx.y; else aabb.mMax.y += vx.y; + if(IS_NEGATIVE_FLOAT(vx.z)) aabb.mMin.z += vx.z; else aabb.mMax.z += vx.z; + if(IS_NEGATIVE_FLOAT(vy.x)) aabb.mMin.x += vy.x; else aabb.mMax.x += vy.x; + if(IS_NEGATIVE_FLOAT(vy.y)) aabb.mMin.y += vy.y; else aabb.mMax.y += vy.y; + if(IS_NEGATIVE_FLOAT(vy.z)) aabb.mMin.z += vy.z; else aabb.mMax.z += vy.z; + if(IS_NEGATIVE_FLOAT(vz.x)) aabb.mMin.x += vz.x; else aabb.mMax.x += vz.x; + if(IS_NEGATIVE_FLOAT(vz.y)) aabb.mMin.y += vz.y; else aabb.mMax.y += vz.y; + if(IS_NEGATIVE_FLOAT(vz.z)) aabb.mMin.z += vz.z; else aabb.mMax.z += vz.z; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the AABB is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for (Min, Max) boxes: min < max + if(mMin.x > mMax.x) return FALSE; + if(mMin.y > mMax.y) return FALSE; + if(mMin.z > mMax.z) return FALSE; + return TRUE; + } + + //! Operator for AABB *= float. Scales the extents, keeps same center. + inline_ AABB& operator*=(float s) + { + Point Center; GetCenter(Center); + Point Extents; GetExtents(Extents); + SetCenterExtents(Center, Extents * s); + return *this; + } + + //! Operator for AABB /= float. Scales the extents, keeps same center. + inline_ AABB& operator/=(float s) + { + Point Center; GetCenter(Center); + Point Extents; GetExtents(Extents); + SetCenterExtents(Center, Extents / s); + return *this; + } + + //! Operator for AABB += Point. Translates the box. + inline_ AABB& operator+=(const Point& trans) + { + mMin+=trans; + mMax+=trans; + return *this; + } + private: + Point mMin; //!< Min point + Point mMax; //!< Max point + }; + +#else + + class ICEMATHS_API AABB + { + public: + //! Constructor + inline_ AABB() {} + //! Destructor + inline_ ~AABB() {} + + //! Type-independent methods + AABB_COMMON_METHODS; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from min & max vectors. + * \param min [in] the min point + * \param max [in] the max point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetMinMax(const Point& min, const Point& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from center & extents vectors. + * \param c [in] the center point + * \param e [in] the extents vector + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetCenterExtents(const Point& c, const Point& e) { mCenter = c; mExtents = e; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an empty AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetEmpty() { mCenter.Zero(); mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups a point AABB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetPoint(const Point& pt) { mCenter = pt; mExtents.Zero(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the size of the AABB. The size is defined as the longest extent. + * \return the size of the AABB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + float GetSize() const { return mExtents.Max(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Extends the AABB. + * \param p [in] the next point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void Extend(const Point& p) + { + Point Max = mCenter + mExtents; + Point Min = mCenter - mExtents; + + if(p.x > Max.x) Max.x = p.x; + if(p.x < Min.x) Min.x = p.x; + + if(p.y > Max.y) Max.y = p.y; + if(p.y < Min.y) Min.y = p.y; + + if(p.z > Max.z) Max.z = p.z; + if(p.z < Min.z) Min.z = p.z; + + SetMinMax(Min, Max); + } + // Data access + + //! Get min point of the box + inline_ void GetMin(Point& min) const { min = mCenter - mExtents; } + //! Get max point of the box + inline_ void GetMax(Point& max) const { max = mCenter + mExtents; } + + //! Get component of the box's min point along a given axis + inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } + //! Get component of the box's max point along a given axis + inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } + + //! Get box center + inline_ void GetCenter(Point& center) const { center = mCenter; } + //! Get box extents + inline_ void GetExtents(Point& extents) const { extents = mExtents; } + + //! Get component of the box's center along a given axis + inline_ float GetCenter(udword axis) const { return mCenter[axis]; } + //! Get component of the box's extents along a given axis + inline_ float GetExtents(udword axis) const { return mExtents[axis]; } + + //! Get box diagonal + inline_ void GetDiagonal(Point& diagonal) const { diagonal = mExtents * 2.0f; } + inline_ float GetWidth() const { return mExtents.x * 2.0f; } + inline_ float GetHeight() const { return mExtents.y * 2.0f; } + inline_ float GetDepth() const { return mExtents.z * 2.0f; } + + //! Volume + inline_ float GetVolume() const { return mExtents.x * mExtents.y * mExtents.z * 8.0f; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the intersection between two AABBs. + * \param a [in] the other AABB + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a) const + { + float tx = mCenter.x - a.mCenter.x; float ex = a.mExtents.x + mExtents.x; if(AIR(tx) > IR(ex)) return FALSE; + float ty = mCenter.y - a.mCenter.y; float ey = a.mExtents.y + mExtents.y; if(AIR(ty) > IR(ey)) return FALSE; + float tz = mCenter.z - a.mCenter.z; float ez = a.mExtents.z + mExtents.z; if(AIR(tz) > IR(ez)) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * The standard intersection method from Gamasutra. Just here to check its speed against the one above. + * \param a [in] the other AABB + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool GomezIntersect(const AABB& a) + { + Point T = mCenter - a.mCenter; // Vector from A to B + return ((fabsf(T.x) <= (a.mExtents.x + mExtents.x)) + && (fabsf(T.y) <= (a.mExtents.y + mExtents.y)) + && (fabsf(T.z) <= (a.mExtents.z + mExtents.z))); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the 1D-intersection between two AABBs, on a given axis. + * \param a [in] the other AABB + * \param axis [in] the axis (0, 1, 2) + * \return true on intersection + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Intersect(const AABB& a, udword axis) const + { + float t = mCenter[axis] - a.mCenter[axis]; + float e = a.mExtents[axis] + mExtents[axis]; + if(AIR(t) > IR(e)) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. + * \param mtx [in] the transform matrix + * \param aabb [out] the transformed AABB [can be *this] + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const + { + // Compute new center + aabb.mCenter = mCenter * mtx; + + // Compute new extents. FPU code & CPU code have been interleaved for improved performance. + Point Ex(mtx.m[0][0] * mExtents.x, mtx.m[0][1] * mExtents.x, mtx.m[0][2] * mExtents.x); + //IR(Ex.x)&=0x7fffffff; IR(Ex.y)&=0x7fffffff; IR(Ex.z)&=0x7fffffff; + Ex.x = FR( AIR(Ex.x) ); + Ex.y = FR( AIR(Ex.y) ); + Ex.z = FR( AIR(Ex.z) ); + + Point Ey(mtx.m[1][0] * mExtents.y, mtx.m[1][1] * mExtents.y, mtx.m[1][2] * mExtents.y); + //IR(Ey.x)&=0x7fffffff; IR(Ey.y)&=0x7fffffff; IR(Ey.z)&=0x7fffffff; + Ey.x = FR( AIR(Ey.x) ); + Ey.y = FR( AIR(Ey.y) ); + Ey.z = FR( AIR(Ey.z) ); + + Point Ez(mtx.m[2][0] * mExtents.z, mtx.m[2][1] * mExtents.z, mtx.m[2][2] * mExtents.z); + //IR(Ez.x)&=0x7fffffff; IR(Ez.y)&=0x7fffffff; IR(Ez.z)&=0x7fffffff; + Ez.x = FR( AIR(Ez.x) ); + Ez.y = FR( AIR(Ez.y) ); + Ez.z = FR( AIR(Ez.z) ); + + aabb.mExtents.x = Ex.x + Ey.x + Ez.x; + aabb.mExtents.y = Ex.y + Ey.y + Ez.y; + aabb.mExtents.z = Ex.z + Ey.z + Ez.z; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the AABB is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for (Center, Extents) boxes: Extents >= 0 + if(IS_NEGATIVE_FLOAT(mExtents.x)) return FALSE; + if(IS_NEGATIVE_FLOAT(mExtents.y)) return FALSE; + if(IS_NEGATIVE_FLOAT(mExtents.z)) return FALSE; + return TRUE; + } + + //! Operator for AABB *= float. Scales the extents, keeps same center. + inline_ AABB& operator*=(float s) { mExtents*=s; return *this; } + + //! Operator for AABB /= float. Scales the extents, keeps same center. + inline_ AABB& operator/=(float s) { mExtents/=s; return *this; } + + //! Operator for AABB += Point. Translates the box. + inline_ AABB& operator+=(const Point& trans) + { + mCenter+=trans; + return *this; + } + private: + Point mCenter; //!< AABB Center + Point mExtents; //!< x, y and z extents + }; + +#endif + + inline_ void ComputeMinMax(const Point& p, Point& min, Point& max) + { + if(p.x > max.x) max.x = p.x; + if(p.x < min.x) min.x = p.x; + + if(p.y > max.y) max.y = p.y; + if(p.y < min.y) min.y = p.y; + + if(p.z > max.z) max.z = p.z; + if(p.z < min.z) min.z = p.z; + } + + inline_ void ComputeAABB(AABB& aabb, const Point* list, udword nb_pts) + { + if(list) + { + Point Maxi(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); + Point Mini(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT); + while(nb_pts--) + { +// _prefetch(list+1); // off by one ? + ComputeMinMax(*list++, Mini, Maxi); + } + aabb.SetMinMax(Mini, Maxi); + } + } + +#endif // __ICEAABB_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceAxes.h b/libs/ode-0.16.1/OPCODE/Ice/IceAxes.h new file mode 100644 index 0000000..8af57e1 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceAxes.h @@ -0,0 +1,54 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains axes definition. + * \file IceAxes.h + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEAXES_H__ +#define __ICEAXES_H__ + + enum PointComponent + { + X = 0, + Y = 1, + Z = 2, + W = 3, + + FORCE_DWORD = 0x7fffffff + }; + + enum AxisOrder + { + AXES_XYZ = (X)|(Y<<2)|(Z<<4), + AXES_XZY = (X)|(Z<<2)|(Y<<4), + AXES_YXZ = (Y)|(X<<2)|(Z<<4), + AXES_YZX = (Y)|(Z<<2)|(X<<4), + AXES_ZXY = (Z)|(X<<2)|(Y<<4), + AXES_ZYX = (Z)|(Y<<2)|(X<<4), + + AXES_FORCE_DWORD = 0x7fffffff + }; + + class ICEMATHS_API Axes + { + public: + + inline_ Axes(AxisOrder order) + { + mAxis0 = (order ) & 3; + mAxis1 = (order>>2) & 3; + mAxis2 = (order>>4) & 3; + } + inline_ ~Axes() {} + + udword mAxis0; + udword mAxis1; + udword mAxis2; + }; + +#endif // __ICEAXES_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceBoundingSphere.h b/libs/ode-0.16.1/OPCODE/Ice/IceBoundingSphere.h new file mode 100644 index 0000000..945d38c --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceBoundingSphere.h @@ -0,0 +1,142 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code to compute the minimal bounding sphere. + * \file IceBoundingSphere.h + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEBOUNDINGSPHERE_H__ +#define __ICEBOUNDINGSPHERE_H__ + + enum BSphereMethod + { + BS_NONE, + BS_GEMS, + BS_MINIBALL, + + BS_FORCE_DWORD = 0x7fffffff + }; + + class ICEMATHS_API Sphere + { + public: + //! Constructor + inline_ Sphere() {} + //! Constructor + inline_ Sphere(const Point& center, float radius) : mCenter(center), mRadius(radius) {} + //! Constructor + Sphere(udword nb_verts, const Point* verts); + //! Copy constructor + inline_ Sphere(const Sphere& sphere) : mCenter(sphere.mCenter), mRadius(sphere.mRadius) {} + //! Destructor + inline_ ~Sphere() {} + + BSphereMethod Compute(udword nb_verts, const Point* verts); + bool FastCompute(udword nb_verts, const Point* verts); + + // Access methods + inline_ const Point& GetCenter() const { return mCenter; } + inline_ float GetRadius() const { return mRadius; } + + inline_ const Point& Center() const { return mCenter; } + inline_ float Radius() const { return mRadius; } + + inline_ Sphere& Set(const Point& center, float radius) { mCenter = center; mRadius = radius; return *this; } + inline_ Sphere& SetCenter(const Point& center) { mCenter = center; return *this; } + inline_ Sphere& SetRadius(float radius) { mRadius = radius; return *this; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a point is contained within the sphere. + * \param p [in] the point to test + * \return true if inside the sphere + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const Point& p) const + { + return mCenter.SquareDistance(p) <= mRadius*mRadius; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a sphere is contained within the sphere. + * \param sphere [in] the sphere to test + * \return true if inside the sphere + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const Sphere& sphere) const + { + // If our radius is the smallest, we can't possibly contain the other sphere + if(mRadius < sphere.mRadius) return false; + // So r is always positive or null now + float r = mRadius - sphere.mRadius; + return mCenter.SquareDistance(sphere.mCenter) <= r*r; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a box is contained within the sphere. + * \param aabb [in] the box to test + * \return true if inside the sphere + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Contains(const AABB& aabb) const + { + // I assume if all 8 box vertices are inside the sphere, so does the whole box. + // Sounds ok but maybe there's a better way? + float R2 = mRadius * mRadius; +#ifdef USE_MIN_MAX + const Point& Max = ((ShadowAABB&)&aabb).mMax; + const Point& Min = ((ShadowAABB&)&aabb).mMin; +#else + Point Max; aabb.GetMax(Max); + Point Min; aabb.GetMin(Min); +#endif + Point p; + p.x=Max.x; p.y=Max.y; p.z=Max.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Max.x; p.y=Max.y; p.z=Min.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; + p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; + + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if the sphere intersects another sphere + * \param sphere [in] the other sphere + * \return true if spheres overlap + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Intersect(const Sphere& sphere) const + { + float r = mRadius + sphere.mRadius; + return mCenter.SquareDistance(sphere.mCenter) <= r*r; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the sphere is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for spheres: Radius >= 0.0f + if(mRadius < 0.0f) return FALSE; + return TRUE; + } + public: + Point mCenter; //!< Sphere center + float mRadius; //!< Sphere radius + }; + +#endif // __ICEBOUNDINGSPHERE_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceContainer.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceContainer.cpp new file mode 100644 index 0000000..3eeefe0 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceContainer.cpp @@ -0,0 +1,357 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a simple container class. + * \file IceContainer.cpp + * \author Pierre Terdiman + * \date February, 5, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a list of 32-bits values. + * Use this class when you need to store an unknown number of values. The list is automatically + * resized and can contains 32-bits entities (dwords or floats) + * + * \class Container + * \author Pierre Terdiman + * \version 1.0 + * \date 08.15.98 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceCore; + +#define MAX_RESERVE_GROWTH_SIZE 65536U + +// Static members +#ifdef CONTAINER_STATS +udword Container::mNbContainers = 0; +udword Container::mUsedRam = 0; +#endif + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. No entries allocated there. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::Container() : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2) +{ +#ifdef CONTAINER_STATS + mNbContainers++; + mUsedRam+=sizeof(Container); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. Also allocates a given number of entries. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::Container(udword size, float growth_factor) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(growth_factor) +{ +#ifdef CONTAINER_STATS + mNbContainers++; + mUsedRam+=sizeof(Container); +#endif + SetSize(size); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Copy constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::Container(const Container& object) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2) +{ +#ifdef CONTAINER_STATS + mNbContainers++; + mUsedRam+=sizeof(Container); +#endif + *this = object; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. Frees everything and leaves. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container::~Container() +{ + Empty(); +#ifdef CONTAINER_STATS + mNbContainers--; + mUsedRam-=GetUsedRam(); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Clears the container. All stored values are deleted, and it frees used ram. + * \see Reset() + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container& Container::Empty() +{ +#ifdef CONTAINER_STATS + mUsedRam-=mMaxNbEntries*sizeof(udword); +#endif + DELETEARRAY(mEntries); + mCurNbEntries = mMaxNbEntries = 0; + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Resizes the container. + * \param needed [in] assume the container can be added at least "needed" values + * \return true if success. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Resize(udword needed) +{ +#ifdef CONTAINER_STATS + // Subtract previous amount of bytes + mUsedRam-=mMaxNbEntries*sizeof(udword); +#endif + + if (MAX_UDWORD - mCurNbEntries < needed) + { + CHECKALLOC(null); + } + + // Get more entries + udword NewMaxNbEntries = mMaxNbEntries ? udword(mMaxNbEntries * mGrowthFactor) : 2; // Default nb Entries = 2 + + if (NewMaxNbEntries <= mMaxNbEntries) NewMaxNbEntries = MAX_UDWORD - mMaxNbEntries < MAX_RESERVE_GROWTH_SIZE ? MAX_UDWORD : mMaxNbEntries + MAX_RESERVE_GROWTH_SIZE; + else if (NewMaxNbEntries - mMaxNbEntries > MAX_RESERVE_GROWTH_SIZE) NewMaxNbEntries = mMaxNbEntries + MAX_RESERVE_GROWTH_SIZE; + + if (NewMaxNbEntries < mCurNbEntries + needed) NewMaxNbEntries = mCurNbEntries + needed; + + // Get some bytes for new entries + udword* NewEntries = new udword[NewMaxNbEntries]; + CHECKALLOC(NewEntries); + + // Copy old data if needed + if(mCurNbEntries) CopyMemory(NewEntries, mEntries, mCurNbEntries*sizeof(udword)); + + // Delete old data + DELETEARRAY(mEntries); + + // Assign new pointer + mEntries = NewEntries; + mMaxNbEntries = NewMaxNbEntries; + +#ifdef CONTAINER_STATS + // Add current amount of bytes + mUsedRam+=mMaxNbEntries*sizeof(udword); +#endif + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Sets the initial size of the container. If it already contains something, it's discarded. + * \param nb [in] Number of entries + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::SetSize(udword nb) +{ + // Make sure it's empty + Empty(); + + // Checkings + if(!nb) return false; + + // Initialize for nb entries + mMaxNbEntries = nb; + + // Get some bytes for new entries + mEntries = new udword[mMaxNbEntries]; + CHECKALLOC(mEntries); + +#ifdef CONTAINER_STATS + // Add current amount of bytes + mUsedRam+=mMaxNbEntries*sizeof(udword); +#endif + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the container and get rid of unused bytes. + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Refit() +{ +#ifdef CONTAINER_STATS + // Subtract previous amount of bytes + mUsedRam-=mMaxNbEntries*sizeof(udword); +#endif + + // Get just enough entries + mMaxNbEntries = mCurNbEntries; + if(!mMaxNbEntries) return false; + + // Get just enough bytes + udword* NewEntries = new udword[mMaxNbEntries]; + CHECKALLOC(NewEntries); + +#ifdef CONTAINER_STATS + // Add current amount of bytes + mUsedRam+=mMaxNbEntries*sizeof(udword); +#endif + + // Copy old data + CopyMemory(NewEntries, mEntries, mCurNbEntries*sizeof(udword)); + + // Delete old data + DELETEARRAY(mEntries); + + // Assign new pointer + mEntries = NewEntries; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the container already contains a given value. + * \param entry [in] the value to look for in the container + * \param location [out] a possible pointer to store the entry location + * \see Add(udword entry) + * \see Add(float entry) + * \see Empty() + * \return true if the value has been found in the container, else false. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Contains(udword entry, udword* location) const +{ + // Look for the entry + for(udword i=0;i<mCurNbEntries;i++) + { + if(mEntries[i]==entry) + { + if(location) *location = i; + return true; + } + } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Deletes an entry. If the container contains such an entry, it's removed. + * \param entry [in] the value to delete. + * \return true if the value has been found in the container, else false. + * \warning This method is arbitrary slow (O(n)) and should be used carefully. Insertion order is not preserved. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::Delete(udword entry) +{ + // Look for the entry + for(udword i=0;i<mCurNbEntries;i++) + { + if(mEntries[i]==entry) + { + // Entry has been found at index i. The strategy is to copy the last current entry at index i, and decrement the current number of entries. + DeleteIndex(i); + return true; + } + } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Deletes an entry, preserving the insertion order. If the container contains such an entry, it's removed. + * \param entry [in] the value to delete. + * \return true if the value has been found in the container, else false. + * \warning This method is arbitrary slow (O(n)) and should be used carefully. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Container::DeleteKeepingOrder(udword entry) +{ + // Look for the entry + for(udword i=0;i<mCurNbEntries;i++) + { + if(mEntries[i]==entry) + { + // Entry has been found at index i. + // Shift entries to preserve order. You really should use a linked list instead. + mCurNbEntries--; + for(udword j=i;j<mCurNbEntries;j++) + { + mEntries[j] = mEntries[j+1]; + } + return true; + } + } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the next entry, starting from input one. + * \param entry [in/out] On input, the entry to look for. On output, the next entry + * \param find_mode [in] wrap/clamp + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container& Container::FindNext(udword& entry, FindMode find_mode) +{ + udword Location; + if(Contains(entry, &Location)) + { + Location++; + if(Location==mCurNbEntries) Location = find_mode==FIND_WRAP ? 0 : mCurNbEntries-1; + entry = mEntries[Location]; + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the previous entry, starting from input one. + * \param entry [in/out] On input, the entry to look for. On output, the previous entry + * \param find_mode [in] wrap/clamp + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Container& Container::FindPrev(udword& entry, FindMode find_mode) +{ + udword Location; + if(Contains(entry, &Location)) + { + Location--; + if(Location==0xffffffff) Location = find_mode==FIND_WRAP ? mCurNbEntries-1 : 0; + entry = mEntries[Location]; + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the ram used by the container. + * \return the ram used in bytes. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword Container::GetUsedRam() const +{ + return sizeof(Container) + mMaxNbEntries * sizeof(udword); +} + +/*void Container::operator=(const Container& object) +{ + SetSize(object.GetNbEntries()); + CopyMemory(mEntries, object.GetEntries(), mMaxNbEntries*sizeof(udword)); + mCurNbEntries = mMaxNbEntries; +}*/ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceContainer.h b/libs/ode-0.16.1/OPCODE/Ice/IceContainer.h new file mode 100644 index 0000000..2c3c597 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceContainer.h @@ -0,0 +1,243 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a simple container class. + * \file IceContainer.h + * \author Pierre Terdiman + * \date February, 5, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICECONTAINER_H__ +#define __ICECONTAINER_H__ + +// #define CONTAINER_STATS + + enum FindMode + { + FIND_CLAMP, + FIND_WRAP, + + FIND_FORCE_DWORD = 0x7fffffff + }; + + class ICECORE_API Container + { + public: + // Constructor / Destructor + Container(); + Container(const Container& object); + Container(udword size, float growth_factor); + ~Container(); + // Management + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * A O(1) method to add a value in the container. The container is automatically resized if needed. + * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation + * costs a lot more than the call overhead... + * + * \param entry [in] a udword to store in the container + * \see Add(float entry) + * \see Empty() + * \see Contains(udword entry) + * \return Self-Reference + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ Container& Add(udword entry) + { + // Resize if needed + if (mCurNbEntries == mMaxNbEntries + && !Resize()) + { + IceAbort(); + } + + // Add new entry + mEntries[mCurNbEntries++] = entry; + return *this; + } + + inline_ Container& Add(const uword* entries, udword nb) + { + // Resize if needed + if (mCurNbEntries + nb > mMaxNbEntries + && !Resize(nb)) + { + IceAbort(); + } + + // Add new entry + CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(uword)); + mCurNbEntries+=nb; + return *this; + } + + inline_ Container& Add(const udword* entries, udword nb) + { + // Resize if needed + if (mCurNbEntries + nb > mMaxNbEntries + && !Resize(nb)) + { + IceAbort(); + } + + // Add new entry + CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(udword)); + mCurNbEntries+=nb; + return *this; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * A O(1) method to add a value in the container. The container is automatically resized if needed. + * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation + * costs a lot more than the call overhead... + * + * \param entry [in] a float to store in the container + * \see Add(udword entry) + * \see Empty() + * \see Contains(udword entry) + * \return Self-Reference + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ Container& Add(float entry) + { + // Resize if needed + if (mCurNbEntries == mMaxNbEntries + && !Resize()) + { + IceAbort(); + } + + // Add new entry + mEntries[mCurNbEntries++] = IR(entry); + return *this; + } + + inline_ Container& Add(const float* entries, udword nb) + { + // Resize if needed + if (mCurNbEntries + nb > mMaxNbEntries + && !Resize(nb)) + { + IceAbort(); + } + + // Add new entry + CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(float)); + mCurNbEntries+=nb; + return *this; + } + + //! Add unique [slow] + inline_ Container& AddUnique(udword entry) + { + if(!Contains(entry)) Add(entry); + return *this; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Clears the container. All stored values are deleted, and it frees used ram. + * \see Reset() + * \return Self-Reference + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + Container& Empty(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Resets the container. Stored values are discarded but the buffer is kept so that further calls don't need resizing again. + * That's a kind of temporal coherence. + * \see Empty() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Reset() + { + // Avoid the write if possible + // ### CMOV + if(mCurNbEntries) mCurNbEntries = 0; + } + + // HANDLE WITH CARE + inline_ void ForceSize(udword size) + { + mCurNbEntries = size; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Sets the initial size of the container. If it already contains something, it's discarded. + * \param nb [in] Number of entries + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetSize(udword nb); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the container and get rid of unused bytes. + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Refit(); + + // Checks whether the container already contains a given value. + bool Contains(udword entry, udword* location=null) const; + // Deletes an entry - doesn't preserve insertion order. + bool Delete(udword entry); + // Deletes an entry - does preserve insertion order. + bool DeleteKeepingOrder(udword entry); + //! Deletes the very last entry. + inline_ void DeleteLastEntry() { if(mCurNbEntries) mCurNbEntries--; } + //! Deletes the entry whose index is given + inline_ void DeleteIndex(udword index) { ASSERT(index < mCurNbEntries); mEntries[index] = mEntries[--mCurNbEntries]; } + + // Helpers + Container& FindNext(udword& entry, FindMode find_mode=FIND_CLAMP); + Container& FindPrev(udword& entry, FindMode find_mode=FIND_CLAMP); + // Data access. + inline_ udword GetNbEntries() const { return mCurNbEntries; } //!< Returns the current number of entries. + inline_ udword GetEntry(udword i) const { return mEntries[i]; } //!< Returns ith entry + inline_ udword* GetEntries() const { return mEntries; } //!< Returns the list of entries. + + inline_ udword GetFirst() const { return mEntries[0]; } + inline_ udword GetLast() const { return mEntries[mCurNbEntries-1]; } + + // Growth control + inline_ udword GetGrowthFactor() const { return mGrowthFactor; } //!< Returns the growth factor + inline_ void SetGrowthFactor(udword growth) { mGrowthFactor = growth; } //!< Sets the growth factor + inline_ bool IsFull() const { return mCurNbEntries==mMaxNbEntries; } //!< Checks the container is full + inline_ BOOL IsNotEmpty() const { return mCurNbEntries; } //!< Checks the container is empty + + //! Read-access as an array + inline_ udword operator[](udword i) const { ASSERT(i>=0 && i<mCurNbEntries); return mEntries[i]; } + //! Write-access as an array + inline_ udword& operator[](udword i) { ASSERT(i>=0 && i<mCurNbEntries); return mEntries[i]; } + + // Stats + udword GetUsedRam() const; + + //! Operator for "Container A = Container B" + //void operator = (const Container& object); + +#ifdef CONTAINER_STATS + inline_ udword GetNbContainers() const { return mNbContainers; } + inline_ udword GetTotalBytes() const { return mUsedRam; } + private: + + static udword mNbContainers; //!< Number of containers around + static udword mUsedRam; //!< Amount of bytes used by containers in the system +#endif + private: + // Resizing + bool Resize(udword needed=1); + // Data + udword mMaxNbEntries; //!< Maximum possible number of entries + udword mCurNbEntries; //!< Current number of entries + udword* mEntries; //!< List of entries + udword mGrowthFactor; //!< Resize: new number of entries = old number * mGrowthFactor + }; + +#endif // __ICECONTAINER_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceFPU.h b/libs/ode-0.16.1/OPCODE/Ice/IceFPU.h new file mode 100644 index 0000000..e7ec3f5 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceFPU.h @@ -0,0 +1,282 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains FPU related code. + * \file IceFPU.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEFPU_H__ +#define __ICEFPU_H__ + + #define SIGN_BITMASK 0x80000000 + + namespace { + union float_udword { float f; udword u; }; + union float_sdword { float f; sdword s; }; + } + + + //! Integer representation of a floating-point value. + //#define IR(x) ((udword&)(x)) + static inline udword IR(float x) { float_udword fu; fu.f = x; return fu.u; } + + //! Signed integer representation of a floating-point value. + //#define SIR(x) ((sdword&)(x)) + static inline sdword SIR(float x) { float_sdword fs; fs.f = x; return fs.s; } + + //! Absolute integer representation of a floating-point value + #define AIR(x) (IR(x)&0x7fffffff) + + //! Floating-point representation of an integer value. + //#define FR(x) ((float&)(x)) + static inline float FR(unsigned x) { float_udword fu; fu.u = x; return fu.f; } + + //! Integer-based comparison of a floating point value. + //! Don't use it blindly, it can be faster or slower than the FPU comparison, depends on the context. + #define IS_NEGATIVE_FLOAT(x) (IR(x)&0x80000000) + + //! Fast fabs for floating-point values. It just clears the sign bit. + //! Don't use it blindy, it can be faster or slower than the FPU comparison, depends on the context. + inline_ float FastFabs(float x) + { + udword FloatBits = IR(x)&0x7fffffff; + return FR(FloatBits); + } + + //! Fast square root for floating-point values. + inline_ float FastSqrt(float square) + { + return sqrtf(square); + } + + //! Saturates positive to zero. + inline_ float fsat(float f) + { + udword y = IR(f) & ~(SIR(f) >>31); + return FR(y); + } + + //! Computes 1.0f / sqrtf(x). + inline_ float frsqrt(float f) + { + float x = f * 0.5f; + udword y = 0x5f3759df - (IR(f) >> 1); + // Iteration... + const float fy = FR(y); + const float result = fy * ( 1.5f - ( x * fy * fy ) ); + // Result + return result; + } + + //! Computes 1.0f / sqrtf(x). Comes from NVIDIA. + inline_ float InvSqrt(const float& x) + { + const udword tmp = (udword(IEEE_1_0 << 1) + IEEE_1_0 - IR(x)) >> 1; + const float y = FR(tmp); + return y * (1.47f - 0.47f * x * y * y); + } + + //! Computes 1.0f / sqrtf(x). Comes from Quake3. Looks like the first one I had above. + //! See http://www.magic-software.com/3DGEDInvSqrt.html + inline_ float RSqrt(float number) + { + int i; + float x2, y; + const float threehalfs = 1.5f; + + x2 = number * 0.5f; + y = number; + i = IR(y); + i = 0x5f3759df - (i >> 1); + y = FR(i); + y = y * (threehalfs - (x2 * y * y)); + + return y; + } + + //! TO BE DOCUMENTED + inline_ float fsqrt(float f) + { + udword y = ( ( SIR(f) - 0x3f800000 ) >> 1 ) + 0x3f800000; + // Iteration...? + // (float&)y = (3.0f - ((float&)y * (float&)y) / f) * (float&)y * 0.5f; + // Result + return FR(y); + } + + //! Returns the float ranged espilon value. + inline_ float fepsilon(float f) + { + udword b = IR(f) & 0xff800000; + udword a = b | 0x00000001; + // Result + return FR(a) - FR(b); + } + + //! Is the float valid ? + inline_ bool IsNAN(float value) { return (IR(value)&0x7f800000) == 0x7f800000; } + inline_ bool IsIndeterminate(float value) { return IR(value) == 0xffc00000; } + inline_ bool IsPlusInf(float value) { return IR(value) == 0x7f800000; } + inline_ bool IsMinusInf(float value) { return IR(value) == 0xff800000; } + + inline_ bool IsValidFloat(float value) + { + if(IsNAN(value)) return false; + if(IsIndeterminate(value)) return false; + if(IsPlusInf(value)) return false; + if(IsMinusInf(value)) return false; + return true; + } + + #define CHECK_VALID_FLOAT(x) ASSERT(IsValidFloat(x)); + +/* + //! FPU precision setting function. + inline_ void SetFPU() + { + // This function evaluates whether the floating-point + // control word is set to single precision/round to nearest/ + // exceptions disabled. If these conditions don't hold, the + // function changes the control word to set them and returns + // TRUE, putting the old control word value in the passback + // location pointed to by pwOldCW. + { + uword wTemp, wSave; + + __asm fstcw wSave + if (wSave & 0x300 || // Not single mode + 0x3f != (wSave & 0x3f) || // Exceptions enabled + wSave & 0xC00) // Not round to nearest mode + { + __asm + { + mov ax, wSave + and ax, not 300h ;; single mode + or ax, 3fh ;; disable all exceptions + and ax, not 0xC00 ;; round to nearest mode + mov wTemp, ax + fldcw wTemp + } + } + } + } +*/ + //! This function computes the slowest possible floating-point value (you can also directly use FLT_EPSILON) + inline_ float ComputeFloatEpsilon() + { + const float f = FR( IR(1.0f) ^ 1 ); + return f - 1.0f; // You can check it's the same as FLT_EPSILON + } + + inline_ bool IsFloatZero(float x, float epsilon=1e-6f) + { + return x*x < epsilon; + } + + #define FCOMI_ST0 _asm _emit 0xdb _asm _emit 0xf0 + #define FCOMIP_ST0 _asm _emit 0xdf _asm _emit 0xf0 + #define FCMOVB_ST0 _asm _emit 0xda _asm _emit 0xc0 + #define FCMOVNB_ST0 _asm _emit 0xdb _asm _emit 0xc0 + + #define FCOMI_ST1 _asm _emit 0xdb _asm _emit 0xf1 + #define FCOMIP_ST1 _asm _emit 0xdf _asm _emit 0xf1 + #define FCMOVB_ST1 _asm _emit 0xda _asm _emit 0xc1 + #define FCMOVNB_ST1 _asm _emit 0xdb _asm _emit 0xc1 + + #define FCOMI_ST2 _asm _emit 0xdb _asm _emit 0xf2 + #define FCOMIP_ST2 _asm _emit 0xdf _asm _emit 0xf2 + #define FCMOVB_ST2 _asm _emit 0xda _asm _emit 0xc2 + #define FCMOVNB_ST2 _asm _emit 0xdb _asm _emit 0xc2 + + #define FCOMI_ST3 _asm _emit 0xdb _asm _emit 0xf3 + #define FCOMIP_ST3 _asm _emit 0xdf _asm _emit 0xf3 + #define FCMOVB_ST3 _asm _emit 0xda _asm _emit 0xc3 + #define FCMOVNB_ST3 _asm _emit 0xdb _asm _emit 0xc3 + + #define FCOMI_ST4 _asm _emit 0xdb _asm _emit 0xf4 + #define FCOMIP_ST4 _asm _emit 0xdf _asm _emit 0xf4 + #define FCMOVB_ST4 _asm _emit 0xda _asm _emit 0xc4 + #define FCMOVNB_ST4 _asm _emit 0xdb _asm _emit 0xc4 + + #define FCOMI_ST5 _asm _emit 0xdb _asm _emit 0xf5 + #define FCOMIP_ST5 _asm _emit 0xdf _asm _emit 0xf5 + #define FCMOVB_ST5 _asm _emit 0xda _asm _emit 0xc5 + #define FCMOVNB_ST5 _asm _emit 0xdb _asm _emit 0xc5 + + #define FCOMI_ST6 _asm _emit 0xdb _asm _emit 0xf6 + #define FCOMIP_ST6 _asm _emit 0xdf _asm _emit 0xf6 + #define FCMOVB_ST6 _asm _emit 0xda _asm _emit 0xc6 + #define FCMOVNB_ST6 _asm _emit 0xdb _asm _emit 0xc6 + + #define FCOMI_ST7 _asm _emit 0xdb _asm _emit 0xf7 + #define FCOMIP_ST7 _asm _emit 0xdf _asm _emit 0xf7 + #define FCMOVB_ST7 _asm _emit 0xda _asm _emit 0xc7 + #define FCMOVNB_ST7 _asm _emit 0xdb _asm _emit 0xc7 + + //! A global function to find MAX(a,b) using FCOMI/FCMOV + inline_ float FCMax2(float a, float b) + { + return (a > b) ? a : b; + } + + //! A global function to find MIN(a,b) using FCOMI/FCMOV + inline_ float FCMin2(float a, float b) + { + return (a < b) ? a : b; + } + + //! A global function to find MAX(a,b,c) using FCOMI/FCMOV + inline_ float FCMax3(float a, float b, float c) + { + return (a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c); + } + + //! A global function to find MIN(a,b,c) using FCOMI/FCMOV + inline_ float FCMin3(float a, float b, float c) + { + return (a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c); + } + + inline_ int ConvertToSortable(float f) + { + int Fi = SIR(f); + int Fmask = (Fi>>31); + Fi ^= Fmask; + Fmask &= ~(1<<31); + Fi -= Fmask; + return Fi; + } + + enum FPUMode + { + FPU_FLOOR = 0, + FPU_CEIL = 1, + FPU_BEST = 2, + + FPU_FORCE_DWORD = 0x7fffffff + }; + + FUNCTION ICECORE_API FPUMode GetFPUMode(); + FUNCTION ICECORE_API void SaveFPU(); + FUNCTION ICECORE_API void RestoreFPU(); + FUNCTION ICECORE_API void SetFPUFloorMode(); + FUNCTION ICECORE_API void SetFPUCeilMode(); + FUNCTION ICECORE_API void SetFPUBestMode(); + + FUNCTION ICECORE_API void SetFPUPrecision24(); + FUNCTION ICECORE_API void SetFPUPrecision53(); + FUNCTION ICECORE_API void SetFPUPrecision64(); + FUNCTION ICECORE_API void SetFPURoundingChop(); + FUNCTION ICECORE_API void SetFPURoundingUp(); + FUNCTION ICECORE_API void SetFPURoundingDown(); + FUNCTION ICECORE_API void SetFPURoundingNear(); + + FUNCTION ICECORE_API int intChop(const float& f); + FUNCTION ICECORE_API int intFloor(const float& f); + FUNCTION ICECORE_API int intCeil(const float& f); + +#endif // __ICEFPU_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceHPoint.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceHPoint.cpp new file mode 100644 index 0000000..f806a0c --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceHPoint.cpp @@ -0,0 +1,70 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for homogeneous points. + * \file IceHPoint.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Homogeneous point. + * + * Use it: + * - for clipping in homogeneous space (standard way) + * - to differentiate between points (w=1) and vectors (w=0). + * - in some cases you can also use it instead of Point for padding reasons. + * + * \class HPoint + * \author Pierre Terdiman + * \version 1.0 + * \warning No cross-product in 4D. + * \warning HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Point Mul = HPoint * Matrix3x3; +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Point HPoint::operator*(const Matrix3x3& mat) const +{ + return Point( + x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0], + x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1], + x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] ); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// HPoint Mul = HPoint * Matrix4x4; +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HPoint HPoint::operator*(const Matrix4x4& mat) const +{ + return HPoint( + x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0], + x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1], + x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2], + x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3]); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// HPoint *= Matrix4x4 +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HPoint& HPoint::operator*=(const Matrix4x4& mat) +{ + float xp = x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0]; + float yp = x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1]; + float zp = x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2]; + float wp = x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3]; + + x = xp; y = yp; z = zp; w = wp; + + return *this; +} + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceHPoint.h b/libs/ode-0.16.1/OPCODE/Ice/IceHPoint.h new file mode 100644 index 0000000..a3770cd --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceHPoint.h @@ -0,0 +1,160 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for homogeneous points. + * \file IceHPoint.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEHPOINT_H__ +#define __ICEHPOINT_H__ + + class ICEMATHS_API HPoint : public Point + { + public: + + //! Empty constructor + inline_ HPoint() {} + //! Constructor from floats + inline_ HPoint(float xx, float yy, float zz, float ww=0.0f) : Point(xx, yy, zz), w(ww) {} + //! Constructor from array + inline_ HPoint(const float f[4]) : Point(f), w(f[3]) {} + //! Constructor from a Point + inline_ HPoint(const Point& p, float ww=0.0f) : Point(p), w(ww) {} + //! Destructor + inline_ ~HPoint() {} + + //! Clear the point + inline_ HPoint& Zero() { x = y = z = w = 0.0f; return *this; } + + //! Assignment from values + inline_ HPoint& Set(float xx, float yy, float zz, float ww ) { x = xx; y = yy; z = zz; w = ww; return *this; } + //! Assignment from array + inline_ HPoint& Set(const float f[4]) { x = f[X]; y = f[Y]; z = f[Z]; w = f[W]; return *this; } + //! Assignment from another h-point + inline_ HPoint& Set(const HPoint& src) { x = src.x; y = src.y; z = src.z; w = src.w; return *this; } + + //! Add a vector + inline_ HPoint& Add(float xx, float yy, float zz, float ww ) { x += xx; y += yy; z += zz; w += ww; return *this; } + //! Add a vector + inline_ HPoint& Add(const float f[4]) { x += f[X]; y += f[Y]; z += f[Z]; w += f[W]; return *this; } + + //! Subtract a vector + inline_ HPoint& Sub(float xx, float yy, float zz, float ww ) { x -= xx; y -= yy; z -= zz; w -= ww; return *this; } + //! Subtract a vector + inline_ HPoint& Sub(const float f[4]) { x -= f[X]; y -= f[Y]; z -= f[Z]; w -= f[W]; return *this; } + + //! Multiplies by a scalar + inline_ HPoint& Mul(float s) { x *= s; y *= s; z *= s; w *= s; return *this; } + + //! Returns MIN(x, y, z, w); + float Min() const { return MIN(x, MIN(y, MIN(z, w))); } + //! Returns MAX(x, y, z, w); + float Max() const { return MAX(x, MAX(y, MAX(z, w))); } + //! Sets each element to be componentwise minimum + HPoint& Min(const HPoint& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); w = MIN(w, p.w); return *this; } + //! Sets each element to be componentwise maximum + HPoint& Max(const HPoint& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); w = MAX(w, p.w); return *this; } + + //! Computes square magnitude + inline_ float SquareMagnitude() const { return x*x + y*y + z*z + w*w; } + //! Computes magnitude + inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z + w*w); } + + //! Normalize the vector + inline_ HPoint& Normalize() + { + float M = Magnitude(); + if(M) + { + M = 1.0f / M; + x *= M; + y *= M; + z *= M; + w *= M; + } + return *this; + } + + // Arithmetic operators + //! Operator for HPoint Negate = - HPoint; + inline_ HPoint operator-() const { return HPoint(-x, -y, -z, -w); } + + //! Operator for HPoint Plus = HPoint + HPoint; + inline_ HPoint operator+(const HPoint& p) const { return HPoint(x + p.x, y + p.y, z + p.z, w + p.w); } + //! Operator for HPoint Minus = HPoint - HPoint; + inline_ HPoint operator-(const HPoint& p) const { return HPoint(x - p.x, y - p.y, z - p.z, w - p.w); } + + //! Operator for HPoint Mul = HPoint * HPoint; + inline_ HPoint operator*(const HPoint& p) const { return HPoint(x * p.x, y * p.y, z * p.z, w * p.w); } + //! Operator for HPoint Scale = HPoint * float; + inline_ HPoint operator*(float s) const { return HPoint(x * s, y * s, z * s, w * s); } + //! Operator for HPoint Scale = float * HPoint; + inline_ friend HPoint operator*(float s, const HPoint& p) { return HPoint(s * p.x, s * p.y, s * p.z, s * p.w); } + + //! Operator for HPoint Div = HPoint / HPoint; + inline_ HPoint operator/(const HPoint& p) const { return HPoint(x / p.x, y / p.y, z / p.z, w / p.w); } + //! Operator for HPoint Scale = HPoint / float; + inline_ HPoint operator/(float s) const { s = 1.0f / s; return HPoint(x * s, y * s, z * s, w * s); } + //! Operator for HPoint Scale = float / HPoint; + inline_ friend HPoint operator/(float s, const HPoint& p) { return HPoint(s / p.x, s / p.y, s / p.z, s / p.w); } + + //! Operator for float DotProd = HPoint | HPoint; + inline_ float operator|(const HPoint& p) const { return x*p.x + y*p.y + z*p.z + w*p.w; } + // No cross-product in 4D + + //! Operator for HPoint += HPoint; + inline_ HPoint& operator+=(const HPoint& p) { x += p.x; y += p.y; z += p.z; w += p.w; return *this; } + //! Operator for HPoint += float; + inline_ HPoint& operator+=(float s) { x += s; y += s; z += s; w += s; return *this; } + + //! Operator for HPoint -= HPoint; + inline_ HPoint& operator-=(const HPoint& p) { x -= p.x; y -= p.y; z -= p.z; w -= p.w; return *this; } + //! Operator for HPoint -= float; + inline_ HPoint& operator-=(float s) { x -= s; y -= s; z -= s; w -= s; return *this; } + + //! Operator for HPoint *= HPoint; + inline_ HPoint& operator*=(const HPoint& p) { x *= p.x; y *= p.y; z *= p.z; w *= p.w; return *this; } + //! Operator for HPoint *= float; + inline_ HPoint& operator*=(float s) { x*=s; y*=s; z*=s; w*=s; return *this; } + + //! Operator for HPoint /= HPoint; + inline_ HPoint& operator/=(const HPoint& p) { x /= p.x; y /= p.y; z /= p.z; w /= p.w; return *this; } + //! Operator for HPoint /= float; + inline_ HPoint& operator/=(float s) { s = 1.0f / s; x*=s; y*=s; z*=s; w*=s; return *this; } + + // Arithmetic operators + + //! Operator for Point Mul = HPoint * Matrix3x3; + Point operator*(const Matrix3x3& mat) const; + //! Operator for HPoint Mul = HPoint * Matrix4x4; + HPoint operator*(const Matrix4x4& mat) const; + + // HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4 + //! Operator for HPoint *= Matrix4x4 + HPoint& operator*=(const Matrix4x4& mat); + + // Logical operators + + //! Operator for "if(HPoint==HPoint)" + inline_ bool operator==(const HPoint& p) const { return ( (x==p.x)&&(y==p.y)&&(z==p.z)&&(w==p.w)); } + //! Operator for "if(HPoint!=HPoint)" + inline_ bool operator!=(const HPoint& p) const { return ( (x!=p.x)||(y!=p.y)||(z!=p.z)||(w!=p.w)); } + + // Cast operators + + //! Cast a HPoint to a Point. w is discarded. +#ifdef _MSC_VER + inline_ operator Point() const { return Point(x, y, z); } + // gcc complains that conversion to a base class will never use a type conversion operator +#endif + + public: + float w; + }; + +#endif // __ICEHPOINT_H__ + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceIndexedTriangle.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceIndexedTriangle.cpp new file mode 100644 index 0000000..d317113 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceIndexedTriangle.cpp @@ -0,0 +1,548 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy indexed triangle class. + * \file IceIndexedTriangle.cpp + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an indexed triangle class. + * + * \class Triangle + * \author Pierre Terdiman + * \version 1.0 + * \date 08.15.98 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Flips the winding order. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::Flip() +{ + Swap(mVRef[1], mVRef[2]); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle area. + * \param verts [in] the list of indexed vertices + * \return the area + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Area(const Point* verts) const +{ + if(!verts) return 0.0f; + const Point& p0 = verts[0]; + const Point& p1 = verts[1]; + const Point& p2 = verts[2]; + return ((p0-p1)^(p0-p2)).Magnitude() * 0.5f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle perimeter. + * \param verts [in] the list of indexed vertices + * \return the perimeter + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Perimeter(const Point* verts) const +{ + if(!verts) return 0.0f; + const Point& p0 = verts[0]; + const Point& p1 = verts[1]; + const Point& p2 = verts[2]; + return p0.Distance(p1) + + p0.Distance(p2) + + p1.Distance(p2); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle compacity. + * \param verts [in] the list of indexed vertices + * \return the compacity + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Compacity(const Point* verts) const +{ + if(!verts) return 0.0f; + float P = Perimeter(verts); + if(P==0.0f) return 0.0f; + return (4.0f*PI*Area(verts)/(P*P)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle normal. + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::Normal(const Point* verts, Point& normal) const +{ + if(!verts) return; + + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + normal = ((p2-p1)^(p0-p1)).Normalize(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle denormalized normal. + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::DenormalizedNormal(const Point* verts, Point& normal) const +{ + if(!verts) return; + + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + normal = ((p2-p1)^(p0-p1)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle center. + * \param verts [in] the list of indexed vertices + * \param center [out] the computed center + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::Center(const Point* verts, Point& center) const +{ + if(!verts) return; + + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + center = (p0+p1+p2)*INV3; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the centered normal + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed centered normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::CenteredNormal(const Point* verts, Point& normal) const +{ + if(!verts) return; + + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + Point Center = (p0+p1+p2)*INV3; + normal = Center + ((p2-p1)^(p0-p1)).Normalize(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a random point within the triangle. + * \param verts [in] the list of indexed vertices + * \param normal [out] the computed centered normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::RandomPoint(const Point* verts, Point& random) const +{ + if(!verts) return; + + // Random barycentric coords + float Alpha = UnitRandomFloat(); + float Beta = UnitRandomFloat(); + float Gamma = UnitRandomFloat(); + float OneOverTotal = 1.0f / (Alpha + Beta + Gamma); + Alpha *= OneOverTotal; + Beta *= OneOverTotal; + Gamma *= OneOverTotal; + + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + random = Alpha*p0 + Beta*p1 + Gamma*p2; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes backface culling. + * \param verts [in] the list of indexed vertices + * \param source [in] source point (in local space) from which culling must be computed + * \return true if the triangle is visible from the source point + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::IsVisible(const Point* verts, const Point& source) const +{ + // Checkings + if(!verts) return false; + + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + + // Compute denormalized normal + Point Normal = (p2 - p1)^(p0 - p1); + + // Backface culling + return (Normal | source) >= 0.0f; + +// Same as: +// Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); +// return PL.Distance(source) > PL.d; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes backface culling. + * \param verts [in] the list of indexed vertices + * \param source [in] source point (in local space) from which culling must be computed + * \return true if the triangle is visible from the source point + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::BackfaceCulling(const Point* verts, const Point& source) const +{ + // Checkings + if(!verts) return false; + + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + + // Compute base +// Point Base = (p0 + p1 + p2)*INV3; + + // Compute denormalized normal + Point Normal = (p2 - p1)^(p0 - p1); + + // Backface culling +// return (Normal | (source - Base)) >= 0.0f; + return (Normal | (source - p0)) >= 0.0f; + +// Same as: (but a bit faster) +// Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); +// return PL.Distance(source)>0.0f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the occlusion potential of the triangle. + * \param verts [in] the list of indexed vertices + * \param source [in] source point (in local space) from which occlusion potential must be computed + * \return the occlusion potential + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::ComputeOcclusionPotential(const Point* verts, const Point& view) const +{ + if(!verts) return 0.0f; + // Occlusion potential: -(A * (N|V) / d^2) + // A = polygon area + // N = polygon normal + // V = view vector + // d = distance viewpoint-center of polygon + + float A = Area(verts); + Point N; Normal(verts, N); + Point C; Center(verts, C); + float d = view.Distance(C); + return -(A*(N|view))/(d*d); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Replaces a vertex reference with another one. + * \param oldref [in] the vertex reference to replace + * \param newref [in] the new vertex reference + * \return true if success, else false if the input vertex reference doesn't belong to the triangle + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::ReplaceVertex(dTriIndex oldref, dTriIndex newref) +{ + if(mVRef[0]==oldref) { mVRef[0] = newref; return true; } + else if(mVRef[1]==oldref) { mVRef[1] = newref; return true; } + else if(mVRef[2]==oldref) { mVRef[2] = newref; return true; } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the triangle is degenerate or not. A degenerate triangle has two common vertex references. This is a zero-area triangle. + * \return true if the triangle is degenerate + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::IsDegenerate() const +{ + if(mVRef[0]==mVRef[1]) return true; + if(mVRef[1]==mVRef[2]) return true; + if(mVRef[2]==mVRef[0]) return true; + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the input vertex reference belongs to the triangle or not. + * \param ref [in] the vertex reference to look for + * \return true if the triangle contains the vertex reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::HasVertex(dTriIndex ref) const +{ + if(mVRef[0]==ref) return true; + if(mVRef[1]==ref) return true; + if(mVRef[2]==ref) return true; + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks whether the input vertex reference belongs to the triangle or not. + * \param ref [in] the vertex reference to look for + * \param index [out] the corresponding index in the triangle + * \return true if the triangle contains the vertex reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::HasVertex(dTriIndex ref, dTriIndex* index) const +{ + if(mVRef[0]==ref) { *index = 0; return true; } + if(mVRef[1]==ref) { *index = 1; return true; } + if(mVRef[2]==ref) { *index = 2; return true; } + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Finds an edge in a tri, given two vertex references. + * \param vref0 [in] the edge's first vertex reference + * \param vref1 [in] the edge's second vertex reference + * \return the edge number between 0 and 2, or 0xff if input refs are wrong. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +ubyte IndexedTriangle::FindEdge(dTriIndex vref0, dTriIndex vref1) const +{ + if(mVRef[0]==vref0 && mVRef[1]==vref1) return 0; + else if(mVRef[0]==vref1 && mVRef[1]==vref0) return 0; + else if(mVRef[0]==vref0 && mVRef[2]==vref1) return 1; + else if(mVRef[0]==vref1 && mVRef[2]==vref0) return 1; + else if(mVRef[1]==vref0 && mVRef[2]==vref1) return 2; + else if(mVRef[1]==vref1 && mVRef[2]==vref0) return 2; + return 0xff; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the last reference given the first two. + * \param vref0 [in] the first vertex reference + * \param vref1 [in] the second vertex reference + * \return the last reference, or INVALID_ID if input refs are wrong. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +dTriIndex IndexedTriangle::OppositeVertex(dTriIndex vref0, dTriIndex vref1) const +{ + if(mVRef[0]==vref0 && mVRef[1]==vref1) return mVRef[2]; + else if(mVRef[0]==vref1 && mVRef[1]==vref0) return mVRef[2]; + else if(mVRef[0]==vref0 && mVRef[2]==vref1) return mVRef[1]; + else if(mVRef[0]==vref1 && mVRef[2]==vref0) return mVRef[1]; + else if(mVRef[1]==vref0 && mVRef[2]==vref1) return mVRef[0]; + else if(mVRef[1]==vref1 && mVRef[2]==vref0) return mVRef[0]; + return (dTriIndex)INVALID_ID; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the three sorted vertex references according to an edge number. + * edgenb = 0 => edge 0-1, returns references 0, 1, 2 + * edgenb = 1 => edge 0-2, returns references 0, 2, 1 + * edgenb = 2 => edge 1-2, returns references 1, 2, 0 + * + * \param edgenb [in] the edge number, 0, 1 or 2 + * \param vref0 [out] the returned first vertex reference + * \param vref1 [out] the returned second vertex reference + * \param vref2 [out] the returned third vertex reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::GetVRefs(ubyte edgenb, dTriIndex& vref0, dTriIndex& vref1, dTriIndex& vref2) const +{ + if(edgenb==0) + { + vref0 = mVRef[0]; + vref1 = mVRef[1]; + vref2 = mVRef[2]; + } + else if(edgenb==1) + { + vref0 = mVRef[0]; + vref1 = mVRef[2]; + vref2 = mVRef[1]; + } + else if(edgenb==2) + { + vref0 = mVRef[1]; + vref1 = mVRef[2]; + vref2 = mVRef[0]; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's smallest edge length. + * \param verts [in] the list of indexed vertices + * \return the smallest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::MinEdgeLength(const Point* verts) const +{ + if(!verts) return 0.0f; + + float Min = MAX_FLOAT; + float Length01 = verts[0].Distance(verts[1]); + float Length02 = verts[0].Distance(verts[2]); + float Length12 = verts[1].Distance(verts[2]); + if(Length01 < Min) Min = Length01; + if(Length02 < Min) Min = Length02; + if(Length12 < Min) Min = Length12; + return Min; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's largest edge length. + * \param verts [in] the list of indexed vertices + * \return the largest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::MaxEdgeLength(const Point* verts) const +{ + if(!verts) return 0.0f; + + float Max = MIN_FLOAT; + float Length01 = verts[0].Distance(verts[1]); + float Length02 = verts[0].Distance(verts[2]); + float Length12 = verts[1].Distance(verts[2]); + if(Length01 > Max) Max = Length01; + if(Length02 > Max) Max = Length02; + if(Length12 > Max) Max = Length12; + return Max; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a point on the triangle according to the stabbing information. + * \param verts [in] the list of indexed vertices + * \param u,v [in] point's barycentric coordinates + * \param pt [out] point on triangle + * \param nearvtx [out] index of nearest vertex + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void IndexedTriangle::ComputePoint(const Point* verts, float u, float v, Point& pt, dTriIndex* nearvtx) const +{ + // Checkings + if(!verts) return; + + // Get face in local or global space + const Point& p0 = verts[mVRef[0]]; + const Point& p1 = verts[mVRef[1]]; + const Point& p2 = verts[mVRef[2]]; + + // Compute point coordinates + pt = (1.0f - u - v)*p0 + u*p1 + v*p2; + + // Compute nearest vertex if needed + if(nearvtx) + { + // Compute distance vector + Point d(p0.SquareDistance(pt), // Distance^2 from vertex 0 to point on the face + p1.SquareDistance(pt), // Distance^2 from vertex 1 to point on the face + p2.SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face + + // Get smallest distance + *nearvtx = mVRef[d.SmallestAxis()]; + } +} + + //************************************** + // Angle between two vectors (in radians) + // we use this formula + // uv = |u||v| cos(u,v) + // u ^ v = w + // |w| = |u||v| |sin(u,v)| + //************************************** + float Angle(const Point& u, const Point& v) + { + float NormU = u.Magnitude(); // |u| + float NormV = v.Magnitude(); // |v| + float Product = NormU*NormV; // |u||v| + if(Product==0.0f) return 0.0f; + float OneOverProduct = 1.0f / Product; + + // Cosinus + float Cosinus = (u|v) * OneOverProduct; + + // Sinus + Point w = u^v; + float NormW = w.Magnitude(); + + float AbsSinus = NormW * OneOverProduct; + + // Remove degeneracy + if(AbsSinus > 1.0f) AbsSinus = 1.0f; + if(AbsSinus < -1.0f) AbsSinus = -1.0f; + + if(Cosinus>=0.0f) return asinf(AbsSinus); + else return (PI-asinf(AbsSinus)); + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the angle between two triangles. + * \param tri [in] the other triangle + * \param verts [in] the list of indexed vertices + * \return the angle in radians + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float IndexedTriangle::Angle(const IndexedTriangle& tri, const Point* verts) const +{ + // Checkings + if(!verts) return 0.0f; + + // Compute face normals + Point n0, n1; + Normal(verts, n0); + tri.Normal(verts, n1); + + // Compute angle + float dp = n0|n1; + if(dp>1.0f) return 0.0f; + if(dp<-1.0f) return PI; + return acosf(dp); + +// return ::Angle(n0,n1); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks a triangle is the same as another one. + * \param tri [in] the other triangle + * \return true if same triangle + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool IndexedTriangle::Equal(const IndexedTriangle& tri) const +{ + // Test all vertex references + return (HasVertex(tri.mVRef[0]) && + HasVertex(tri.mVRef[1]) && + HasVertex(tri.mVRef[2])); +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceIndexedTriangle.h b/libs/ode-0.16.1/OPCODE/Ice/IceIndexedTriangle.h new file mode 100644 index 0000000..d545e41 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceIndexedTriangle.h @@ -0,0 +1,76 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy indexed triangle class. + * \file IceIndexedTriangle.h + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +#include "ode/common.h" + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEINDEXEDTRIANGLE_H__ +#define __ICEINDEXEDTRIANGLE_H__ + + // Forward declarations +#ifdef _MSC_VER + enum CubeIndex; +#else + typedef int CubeIndex; +#endif + + // An indexed triangle class. + class ICEMATHS_API IndexedTriangle + { + public: + + //! Constructor + inline_ IndexedTriangle() {} + //! Constructor + inline_ IndexedTriangle(dTriIndex r0, dTriIndex r1, dTriIndex r2) { mVRef[0]=r0; mVRef[1]=r1; mVRef[2]=r2; } + //! Copy constructor + inline_ IndexedTriangle(const IndexedTriangle& triangle) + { + mVRef[0] = triangle.mVRef[0]; + mVRef[1] = triangle.mVRef[1]; + mVRef[2] = triangle.mVRef[2]; + } + //! Destructor + inline_ ~IndexedTriangle() {} + + //! Vertex-references + dTriIndex mVRef[3]; + + // Methods + void Flip(); + float Area(const Point* verts) const; + float Perimeter(const Point* verts) const; + float Compacity(const Point* verts) const; + void Normal(const Point* verts, Point& normal) const; + void DenormalizedNormal(const Point* verts, Point& normal) const; + void Center(const Point* verts, Point& center) const; + void CenteredNormal(const Point* verts, Point& normal) const; + void RandomPoint(const Point* verts, Point& random) const; + bool IsVisible(const Point* verts, const Point& source) const; + bool BackfaceCulling(const Point* verts, const Point& source) const; + float ComputeOcclusionPotential(const Point* verts, const Point& view) const; + bool ReplaceVertex(dTriIndex oldref, dTriIndex newref); + bool IsDegenerate() const; + bool HasVertex(dTriIndex ref) const; + bool HasVertex(dTriIndex ref, dTriIndex* index) const; + ubyte FindEdge(dTriIndex vref0, dTriIndex vref1) const; + dTriIndex OppositeVertex(dTriIndex vref0, dTriIndex vref1) const; + inline_ dTriIndex OppositeVertex(ubyte edgenb) const { return mVRef[2-edgenb]; } + void GetVRefs(ubyte edgenb, dTriIndex& vref0, dTriIndex& vref1, dTriIndex& vref2) const; + float MinEdgeLength(const Point* verts) const; + float MaxEdgeLength(const Point* verts) const; + void ComputePoint(const Point* verts, float u, float v, Point& pt, dTriIndex* nearvtx=null) const; + float Angle(const IndexedTriangle& tri, const Point* verts) const; + inline_ Plane PlaneEquation(const Point* verts) const { return Plane(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); } + bool Equal(const IndexedTriangle& tri) const; + CubeIndex ComputeCubeIndex(const Point* verts) const; + }; + +#endif // __ICEINDEXEDTRIANGLE_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceLSS.h b/libs/ode-0.16.1/OPCODE/Ice/IceLSS.h new file mode 100644 index 0000000..bd260c1 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceLSS.h @@ -0,0 +1,75 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for line-swept spheres. + * \file IceLSS.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICELSS_H__ +#define __ICELSS_H__ + + class ICEMATHS_API LSS : public Segment + { + public: + //! Constructor + inline_ LSS() {} + //! Constructor + inline_ LSS(const Segment& seg, float radius) : Segment(seg), mRadius(radius) {} + //! Destructor + inline_ ~LSS() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes an OBB surrounding the LSS. + * \param box [out] the OBB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void ComputeOBB(OBB& box); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a point is contained within the LSS. + * \param pt [in] the point to test + * \return true if inside the LSS + * \warning point and LSS must be in same space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const Point& pt) const { return SquareDistance(pt) <= mRadius*mRadius; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a sphere is contained within the LSS. + * \param sphere [in] the sphere to test + * \return true if inside the LSS + * \warning sphere and LSS must be in same space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const Sphere& sphere) + { + float d = mRadius - sphere.mRadius; + if(d>=0.0f) return SquareDistance(sphere.mCenter) <= d*d; + else return false; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if an LSS is contained within the LSS. + * \param lss [in] the LSS to test + * \return true if inside the LSS + * \warning both LSS must be in same space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ bool Contains(const LSS& lss) + { + // We check the LSS contains the two spheres at the start and end of the sweep + return Contains(Sphere(lss.mP0, lss.mRadius)) && Contains(Sphere(lss.mP0, lss.mRadius)); + } + + float mRadius; //!< Sphere radius + }; + +#endif // __ICELSS_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceMatrix3x3.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix3x3.cpp new file mode 100644 index 0000000..af56d3e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix3x3.cpp @@ -0,0 +1,48 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3x3 matrices. + * \file IceMatrix3x3.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 3x3 matrix. + * DirectX-compliant, ie row-column order, ie m[Row][Col]. + * Same as: + * m11 m12 m13 first row. + * m21 m22 m23 second row. + * m31 m32 m33 third row. + * Stored in memory as m11 m12 m13 m21... + * + * Multiplication rules: + * + * [x'y'z'] = [xyz][M] + * + * x' = x*m11 + y*m21 + z*m31 + * y' = x*m12 + y*m22 + z*m32 + * z' = x*m13 + y*m23 + z*m33 + * + * \class Matrix3x3 + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +// Cast operator +Matrix3x3::operator Matrix4x4() const +{ + return Matrix4x4( + m[0][0], m[0][1], m[0][2], 0.0f, + m[1][0], m[1][1], m[1][2], 0.0f, + m[2][0], m[2][1], m[2][2], 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f); +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceMatrix3x3.h b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix3x3.h new file mode 100644 index 0000000..e3b950f --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix3x3.h @@ -0,0 +1,499 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3x3 matrices. + * \file IceMatrix3x3.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEMATRIX3X3_H__ +#define __ICEMATRIX3X3_H__ + + // Forward declarations + class Quat; + + #define MATRIX3X3_EPSILON (1.0e-7f) + + class ICEMATHS_API Matrix3x3 + { + public: + //! Empty constructor + inline_ Matrix3x3() {} + //! Constructor from 9 values + inline_ Matrix3x3(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22) + { + m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; + m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; + m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; + } + //! Copy constructor + inline_ Matrix3x3(const Matrix3x3& mat) { CopyMemory(m, &mat.m, 9*sizeof(float)); } + //! Destructor + inline_ ~Matrix3x3() {} + + //! Assign values + template<typename trotationfloat> + inline_ void Set(trotationfloat m00, trotationfloat m01, trotationfloat m02, + trotationfloat m10, trotationfloat m11, trotationfloat m12, + trotationfloat m20, trotationfloat m21, trotationfloat m22) + { + m[0][0] = (float)m00; m[0][1] = (float)m01; m[0][2] = (float)m02; + m[1][0] = (float)m10; m[1][1] = (float)m11; m[1][2] = (float)m12; + m[2][0] = (float)m20; m[2][1] = (float)m21; m[2][2] = (float)m22; + } + + //! Sets the scale from a Point. The point is put on the diagonal. + inline_ void SetScale(const Point& p) { m[0][0] = p.x; m[1][1] = p.y; m[2][2] = p.z; } + + //! Sets the scale from floats. Values are put on the diagonal. + inline_ void SetScale(float sx, float sy, float sz) { m[0][0] = sx; m[1][1] = sy; m[2][2] = sz; } + + //! Scales from a Point. Each row is multiplied by a component. + inline_ void Scale(const Point& p) + { + m[0][0] *= p.x; m[0][1] *= p.x; m[0][2] *= p.x; + m[1][0] *= p.y; m[1][1] *= p.y; m[1][2] *= p.y; + m[2][0] *= p.z; m[2][1] *= p.z; m[2][2] *= p.z; + } + + //! Scales from floats. Each row is multiplied by a value. + inline_ void Scale(float sx, float sy, float sz) + { + m[0][0] *= sx; m[0][1] *= sx; m[0][2] *= sx; + m[1][0] *= sy; m[1][1] *= sy; m[1][2] *= sy; + m[2][0] *= sz; m[2][1] *= sz; m[2][2] *= sz; + } + + //! Copy from a Matrix3x3 + inline_ void Copy(const Matrix3x3& source) { CopyMemory(m, source.m, 9*sizeof(float)); } + + // Row-column access + //! Returns a row. + inline_ void GetRow(const udword r, Point& p) const { p.x = m[r][0]; p.y = m[r][1]; p.z = m[r][2]; } + //! Returns a row. + inline_ const Point& GetRow(const udword r) const { return *(const Point*)&m[r][0]; } + //! Returns a row. + inline_ Point& GetRow(const udword r) { return *(Point*)&m[r][0]; } + //! Sets a row. + inline_ void SetRow(const udword r, const Point& p) { m[r][0] = p.x; m[r][1] = p.y; m[r][2] = p.z; } + //! Returns a column. + inline_ void GetCol(const udword c, Point& p) const { p.x = m[0][c]; p.y = m[1][c]; p.z = m[2][c]; } + //! Sets a column. + inline_ void SetCol(const udword c, const Point& p) { m[0][c] = p.x; m[1][c] = p.y; m[2][c] = p.z; } + + //! Computes the trace. The trace is the sum of the 3 diagonal components. + inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2]; } + //! Clears the matrix. + inline_ void Zero() { ZeroMemory(&m, sizeof(m)); } + //! Sets the identity matrix. + inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = 1.0f; } + //! Checks for identity + inline_ bool IsIdentity() const + { + if(IR(m[0][0])!=IEEE_1_0) return false; + if(IR(m[0][1])!=0) return false; + if(IR(m[0][2])!=0) return false; + + if(IR(m[1][0])!=0) return false; + if(IR(m[1][1])!=IEEE_1_0) return false; + if(IR(m[1][2])!=0) return false; + + if(IR(m[2][0])!=0) return false; + if(IR(m[2][1])!=0) return false; + if(IR(m[2][2])!=IEEE_1_0) return false; + + return true; + } + + //! Checks matrix validity + inline_ BOOL IsValid() const + { + for(udword j=0;j<3;j++) + { + for(udword i=0;i<3;i++) + { + if(!IsValidFloat(m[j][i])) return FALSE; + } + } + return TRUE; + } + + //! Makes a skew-symmetric matrix (a.k.a. Star(*) Matrix) + //! [ 0.0 -a.z a.y ] + //! [ a.z 0.0 -a.x ] + //! [ -a.y a.x 0.0 ] + //! This is also called a "cross matrix" since for any vectors A and B, + //! A^B = Skew(A) * B = - B * Skew(A); + inline_ void SkewSymmetric(const Point& a) + { + m[0][0] = 0.0f; + m[0][1] = -a.z; + m[0][2] = a.y; + + m[1][0] = a.z; + m[1][1] = 0.0f; + m[1][2] = -a.x; + + m[2][0] = -a.y; + m[2][1] = a.x; + m[2][2] = 0.0f; + } + + //! Negates the matrix + inline_ void Neg() + { + m[0][0] = -m[0][0]; m[0][1] = -m[0][1]; m[0][2] = -m[0][2]; + m[1][0] = -m[1][0]; m[1][1] = -m[1][1]; m[1][2] = -m[1][2]; + m[2][0] = -m[2][0]; m[2][1] = -m[2][1]; m[2][2] = -m[2][2]; + } + + //! Neg from another matrix + inline_ void Neg(const Matrix3x3& mat) + { + m[0][0] = -mat.m[0][0]; m[0][1] = -mat.m[0][1]; m[0][2] = -mat.m[0][2]; + m[1][0] = -mat.m[1][0]; m[1][1] = -mat.m[1][1]; m[1][2] = -mat.m[1][2]; + m[2][0] = -mat.m[2][0]; m[2][1] = -mat.m[2][1]; m[2][2] = -mat.m[2][2]; + } + + //! Add another matrix + inline_ void Add(const Matrix3x3& mat) + { + m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2]; + m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2]; + m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2]; + } + + //! Sub another matrix + inline_ void Sub(const Matrix3x3& mat) + { + m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2]; + m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2]; + m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2]; + } + //! Mac + inline_ void Mac(const Matrix3x3& a, const Matrix3x3& b, float s) + { + m[0][0] = a.m[0][0] + b.m[0][0] * s; + m[0][1] = a.m[0][1] + b.m[0][1] * s; + m[0][2] = a.m[0][2] + b.m[0][2] * s; + + m[1][0] = a.m[1][0] + b.m[1][0] * s; + m[1][1] = a.m[1][1] + b.m[1][1] * s; + m[1][2] = a.m[1][2] + b.m[1][2] * s; + + m[2][0] = a.m[2][0] + b.m[2][0] * s; + m[2][1] = a.m[2][1] + b.m[2][1] * s; + m[2][2] = a.m[2][2] + b.m[2][2] * s; + } + //! Mac + inline_ void Mac(const Matrix3x3& a, float s) + { + m[0][0] += a.m[0][0] * s; m[0][1] += a.m[0][1] * s; m[0][2] += a.m[0][2] * s; + m[1][0] += a.m[1][0] * s; m[1][1] += a.m[1][1] * s; m[1][2] += a.m[1][2] * s; + m[2][0] += a.m[2][0] * s; m[2][1] += a.m[2][1] * s; m[2][2] += a.m[2][2] * s; + } + + //! this = A * s + inline_ void Mult(const Matrix3x3& a, float s) + { + m[0][0] = a.m[0][0] * s; m[0][1] = a.m[0][1] * s; m[0][2] = a.m[0][2] * s; + m[1][0] = a.m[1][0] * s; m[1][1] = a.m[1][1] * s; m[1][2] = a.m[1][2] * s; + m[2][0] = a.m[2][0] * s; m[2][1] = a.m[2][1] * s; m[2][2] = a.m[2][2] * s; + } + + inline_ void Add(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] + b.m[0][0]; m[0][1] = a.m[0][1] + b.m[0][1]; m[0][2] = a.m[0][2] + b.m[0][2]; + m[1][0] = a.m[1][0] + b.m[1][0]; m[1][1] = a.m[1][1] + b.m[1][1]; m[1][2] = a.m[1][2] + b.m[1][2]; + m[2][0] = a.m[2][0] + b.m[2][0]; m[2][1] = a.m[2][1] + b.m[2][1]; m[2][2] = a.m[2][2] + b.m[2][2]; + } + + inline_ void Sub(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] - b.m[0][0]; m[0][1] = a.m[0][1] - b.m[0][1]; m[0][2] = a.m[0][2] - b.m[0][2]; + m[1][0] = a.m[1][0] - b.m[1][0]; m[1][1] = a.m[1][1] - b.m[1][1]; m[1][2] = a.m[1][2] - b.m[1][2]; + m[2][0] = a.m[2][0] - b.m[2][0]; m[2][1] = a.m[2][1] - b.m[2][1]; m[2][2] = a.m[2][2] - b.m[2][2]; + } + + //! this = a * b + inline_ void Mult(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[1][0] + a.m[0][2] * b.m[2][0]; + m[0][1] = a.m[0][0] * b.m[0][1] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[2][1]; + m[0][2] = a.m[0][0] * b.m[0][2] + a.m[0][1] * b.m[1][2] + a.m[0][2] * b.m[2][2]; + m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[1][2] * b.m[2][0]; + m[1][1] = a.m[1][0] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[2][1]; + m[1][2] = a.m[1][0] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[1][2] * b.m[2][2]; + m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[1][0] + a.m[2][2] * b.m[2][0]; + m[2][1] = a.m[2][0] * b.m[0][1] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[2][1]; + m[2][2] = a.m[2][0] * b.m[0][2] + a.m[2][1] * b.m[1][2] + a.m[2][2] * b.m[2][2]; + } + + //! this = transpose(a) * b + inline_ void MultAtB(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] * b.m[0][0] + a.m[1][0] * b.m[1][0] + a.m[2][0] * b.m[2][0]; + m[0][1] = a.m[0][0] * b.m[0][1] + a.m[1][0] * b.m[1][1] + a.m[2][0] * b.m[2][1]; + m[0][2] = a.m[0][0] * b.m[0][2] + a.m[1][0] * b.m[1][2] + a.m[2][0] * b.m[2][2]; + m[1][0] = a.m[0][1] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[2][1] * b.m[2][0]; + m[1][1] = a.m[0][1] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[2][1] * b.m[2][1]; + m[1][2] = a.m[0][1] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[2][1] * b.m[2][2]; + m[2][0] = a.m[0][2] * b.m[0][0] + a.m[1][2] * b.m[1][0] + a.m[2][2] * b.m[2][0]; + m[2][1] = a.m[0][2] * b.m[0][1] + a.m[1][2] * b.m[1][1] + a.m[2][2] * b.m[2][1]; + m[2][2] = a.m[0][2] * b.m[0][2] + a.m[1][2] * b.m[1][2] + a.m[2][2] * b.m[2][2]; + } + + //! this = a * transpose(b) + inline_ void MultABt(const Matrix3x3& a, const Matrix3x3& b) + { + m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[0][1] + a.m[0][2] * b.m[0][2]; + m[0][1] = a.m[0][0] * b.m[1][0] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[1][2]; + m[0][2] = a.m[0][0] * b.m[2][0] + a.m[0][1] * b.m[2][1] + a.m[0][2] * b.m[2][2]; + m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[0][1] + a.m[1][2] * b.m[0][2]; + m[1][1] = a.m[1][0] * b.m[1][0] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[1][2]; + m[1][2] = a.m[1][0] * b.m[2][0] + a.m[1][1] * b.m[2][1] + a.m[1][2] * b.m[2][2]; + m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[0][1] + a.m[2][2] * b.m[0][2]; + m[2][1] = a.m[2][0] * b.m[1][0] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[1][2]; + m[2][2] = a.m[2][0] * b.m[2][0] + a.m[2][1] * b.m[2][1] + a.m[2][2] * b.m[2][2]; + } + + //! Makes a rotation matrix mapping vector "from" to vector "to". + Matrix3x3& FromTo(const Point& from, const Point& to); + + //! Set a rotation matrix around the X axis. + //! 1 0 0 + //! RX = 0 cx sx + //! 0 -sx cx + void RotX(float angle); + //! Set a rotation matrix around the Y axis. + //! cy 0 -sy + //! RY = 0 1 0 + //! sy 0 cy + void RotY(float angle); + //! Set a rotation matrix around the Z axis. + //! cz sz 0 + //! RZ = -sz cz 0 + //! 0 0 1 + void RotZ(float angle); + //! cy sx.sy -sy.cx + //! RY.RX 0 cx sx + //! sy -sx.cy cx.cy + void RotYX(float y, float x); + + //! Make a rotation matrix about an arbitrary axis + Matrix3x3& Rot(float angle, const Point& axis); + + //! Transpose the matrix. + void Transpose() + { + TSwap(m[1][0], m[0][1]); + TSwap(m[2][0], m[0][2]); + TSwap(m[2][1], m[1][2]); + } + + //! this = Transpose(a) + void Transpose(const Matrix3x3& a) + { + m[0][0] = a.m[0][0]; m[0][1] = a.m[1][0]; m[0][2] = a.m[2][0]; + m[1][0] = a.m[0][1]; m[1][1] = a.m[1][1]; m[1][2] = a.m[2][1]; + m[2][0] = a.m[0][2]; m[2][1] = a.m[1][2]; m[2][2] = a.m[2][2]; + } + + //! Compute the determinant of the matrix. We use the rule of Sarrus. + float Determinant() const + { + return (m[0][0]*m[1][1]*m[2][2] + m[0][1]*m[1][2]*m[2][0] + m[0][2]*m[1][0]*m[2][1]) + - (m[2][0]*m[1][1]*m[0][2] + m[2][1]*m[1][2]*m[0][0] + m[2][2]*m[1][0]*m[0][1]); + } +/* + //! Compute a cofactor. Used for matrix inversion. + float CoFactor(ubyte row, ubyte column) const + { + static const sdword gIndex[3+2] = { 0, 1, 2, 0, 1 }; + return (m[gIndex[row+1]][gIndex[column+1]]*m[gIndex[row+2]][gIndex[column+2]] - m[gIndex[row+2]][gIndex[column+1]]*m[gIndex[row+1]][gIndex[column+2]]); + } +*/ + //! Invert the matrix. Determinant must be different from zero, else matrix can't be inverted. + Matrix3x3& Invert() + { + float Det = Determinant(); // Must be !=0 + float OneOverDet = 1.0f / Det; + + Matrix3x3 Temp; + Temp.m[0][0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDet; + Temp.m[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDet; + Temp.m[2][0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDet; + Temp.m[0][1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDet; + Temp.m[1][1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDet; + Temp.m[2][1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDet; + Temp.m[0][2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDet; + Temp.m[1][2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDet; + Temp.m[2][2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDet; + + *this = Temp; + + return *this; + } + + Matrix3x3& Normalize(); + + //! this = exp(a) + Matrix3x3& Exp(const Matrix3x3& a); + +void FromQuat(const Quat &q); +void FromQuatL2(const Quat &q, float l2); + + // Arithmetic operators + //! Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3; + inline_ Matrix3x3 operator+(const Matrix3x3& mat) const + { + return Matrix3x3( + m[0][0] + mat.m[0][0], m[0][1] + mat.m[0][1], m[0][2] + mat.m[0][2], + m[1][0] + mat.m[1][0], m[1][1] + mat.m[1][1], m[1][2] + mat.m[1][2], + m[2][0] + mat.m[2][0], m[2][1] + mat.m[2][1], m[2][2] + mat.m[2][2]); + } + + //! Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3; + inline_ Matrix3x3 operator-(const Matrix3x3& mat) const + { + return Matrix3x3( + m[0][0] - mat.m[0][0], m[0][1] - mat.m[0][1], m[0][2] - mat.m[0][2], + m[1][0] - mat.m[1][0], m[1][1] - mat.m[1][1], m[1][2] - mat.m[1][2], + m[2][0] - mat.m[2][0], m[2][1] - mat.m[2][1], m[2][2] - mat.m[2][2]); + } + + //! Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3; + inline_ Matrix3x3 operator*(const Matrix3x3& mat) const + { + return Matrix3x3( + m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0], + m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1], + m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2], + + m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0], + m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1], + m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2], + + m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0], + m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1], + m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2]); + } + + //! Operator for Point Mul = Matrix3x3 * Point; + inline_ Point operator*(const Point& v) const { return Point(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v); } + + //! Operator for Matrix3x3 Mul = Matrix3x3 * float; + inline_ Matrix3x3 operator*(float s) const + { + return Matrix3x3( + m[0][0]*s, m[0][1]*s, m[0][2]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s); + } + + //! Operator for Matrix3x3 Mul = float * Matrix3x3; + inline_ friend Matrix3x3 operator*(float s, const Matrix3x3& mat) + { + return Matrix3x3( + s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], + s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], + s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2]); + } + + //! Operator for Matrix3x3 Div = Matrix3x3 / float; + inline_ Matrix3x3 operator/(float s) const + { + if (s) s = 1.0f / s; + return Matrix3x3( + m[0][0]*s, m[0][1]*s, m[0][2]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s); + } + + //! Operator for Matrix3x3 Div = float / Matrix3x3; + inline_ friend Matrix3x3 operator/(float s, const Matrix3x3& mat) + { + return Matrix3x3( + s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], + s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], + s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2]); + } + + //! Operator for Matrix3x3 += Matrix3x3 + inline_ Matrix3x3& operator+=(const Matrix3x3& mat) + { + m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2]; + m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2]; + m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2]; + return *this; + } + + //! Operator for Matrix3x3 -= Matrix3x3 + inline_ Matrix3x3& operator-=(const Matrix3x3& mat) + { + m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2]; + m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2]; + m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2]; + return *this; + } + + //! Operator for Matrix3x3 *= Matrix3x3 + inline_ Matrix3x3& operator*=(const Matrix3x3& mat) + { + Point TempRow; + + GetRow(0, TempRow); + m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; + m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; + m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; + + GetRow(1, TempRow); + m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; + m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; + m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; + + GetRow(2, TempRow); + m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; + m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; + m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; + return *this; + } + + //! Operator for Matrix3x3 *= float + inline_ Matrix3x3& operator*=(float s) + { + m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; + m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; + m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; + return *this; + } + + //! Operator for Matrix3x3 /= float + inline_ Matrix3x3& operator/=(float s) + { + if (s) s = 1.0f / s; + m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; + m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; + m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; + return *this; + } + + // Cast operators + //! Cast a Matrix3x3 to a Matrix4x4. + operator Matrix4x4() const; + //! Cast a Matrix3x3 to a Quat. + operator Quat() const; + + inline_ const Point& operator[](int row) const { return *(const Point*)&m[row][0]; } + inline_ Point& operator[](int row) { return *(Point*)&m[row][0]; } + + public: + + float m[3][3]; + }; + +#endif // __ICEMATRIX3X3_H__ + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceMatrix4x4.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix4x4.cpp new file mode 100644 index 0000000..0b258f0 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix4x4.cpp @@ -0,0 +1,135 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 4x4 matrices. + * \file IceMatrix4x4.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 4x4 matrix. + * DirectX-compliant, ie row-column order, ie m[Row][Col]. + * Same as: + * m11 m12 m13 m14 first row. + * m21 m22 m23 m24 second row. + * m31 m32 m33 m34 third row. + * m41 m42 m43 m44 fourth row. + * Translation is (m41, m42, m43), (m14, m24, m34, m44) = (0, 0, 0, 1). + * Stored in memory as m11 m12 m13 m14 m21... + * + * Multiplication rules: + * + * [x'y'z'1] = [xyz1][M] + * + * x' = x*m11 + y*m21 + z*m31 + m41 + * y' = x*m12 + y*m22 + z*m32 + m42 + * z' = x*m13 + y*m23 + z*m33 + m43 + * 1' = 0 + 0 + 0 + m44 + * + * \class Matrix4x4 + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Inverts a PR matrix. (which only contains a rotation and a translation) + * This is faster and less subject to FPU errors than the generic inversion code. + * + * \relates Matrix4x4 + * \fn InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src) + * \param dest [out] destination matrix + * \param src [in] source matrix + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +ICEMATHS_API void IceMaths::InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src) +{ + dest.m[0][0] = src.m[0][0]; + dest.m[1][0] = src.m[0][1]; + dest.m[2][0] = src.m[0][2]; + dest.m[3][0] = -(src.m[3][0]*src.m[0][0] + src.m[3][1]*src.m[0][1] + src.m[3][2]*src.m[0][2]); + + dest.m[0][1] = src.m[1][0]; + dest.m[1][1] = src.m[1][1]; + dest.m[2][1] = src.m[1][2]; + dest.m[3][1] = -(src.m[3][0]*src.m[1][0] + src.m[3][1]*src.m[1][1] + src.m[3][2]*src.m[1][2]); + + dest.m[0][2] = src.m[2][0]; + dest.m[1][2] = src.m[2][1]; + dest.m[2][2] = src.m[2][2]; + dest.m[3][2] = -(src.m[3][0]*src.m[2][0] + src.m[3][1]*src.m[2][1] + src.m[3][2]*src.m[2][2]); + + dest.m[0][3] = 0.0f; + dest.m[1][3] = 0.0f; + dest.m[2][3] = 0.0f; + dest.m[3][3] = 1.0f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Compute the cofactor of the Matrix at a specified location +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Matrix4x4::CoFactor(udword row, udword col) const +{ + return (( m[(row+1)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+3)&3][(col+3)&3] + + m[(row+1)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+3)&3][(col+1)&3] + + m[(row+1)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+3)&3][(col+2)&3]) + - (m[(row+3)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+1)&3][(col+3)&3] + + m[(row+3)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+1)&3][(col+1)&3] + + m[(row+3)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+1)&3][(col+2)&3])) * ((row + col) & 1 ? -1.0f : +1.0f); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Compute the determinant of the Matrix +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Matrix4x4::Determinant() const +{ + return m[0][0] * CoFactor(0, 0) + + m[0][1] * CoFactor(0, 1) + + m[0][2] * CoFactor(0, 2) + + m[0][3] * CoFactor(0, 3); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Compute the inverse of the matrix +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Matrix4x4& Matrix4x4::Invert() +{ + float Det = Determinant(); + Matrix4x4 Temp; + + if(fabsf(Det) < MATRIX4X4_EPSILON) + return *this; // The matrix is not invertible! Singular case! + + float IDet = 1.0f / Det; + + Temp.m[0][0] = CoFactor(0,0) * IDet; + Temp.m[1][0] = CoFactor(0,1) * IDet; + Temp.m[2][0] = CoFactor(0,2) * IDet; + Temp.m[3][0] = CoFactor(0,3) * IDet; + Temp.m[0][1] = CoFactor(1,0) * IDet; + Temp.m[1][1] = CoFactor(1,1) * IDet; + Temp.m[2][1] = CoFactor(1,2) * IDet; + Temp.m[3][1] = CoFactor(1,3) * IDet; + Temp.m[0][2] = CoFactor(2,0) * IDet; + Temp.m[1][2] = CoFactor(2,1) * IDet; + Temp.m[2][2] = CoFactor(2,2) * IDet; + Temp.m[3][2] = CoFactor(2,3) * IDet; + Temp.m[0][3] = CoFactor(3,0) * IDet; + Temp.m[1][3] = CoFactor(3,1) * IDet; + Temp.m[2][3] = CoFactor(3,2) * IDet; + Temp.m[3][3] = CoFactor(3,3) * IDet; + + *this = Temp; + + return *this; +} + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceMatrix4x4.h b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix4x4.h new file mode 100644 index 0000000..e2db104 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceMatrix4x4.h @@ -0,0 +1,457 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 4x4 matrices. + * \file IceMatrix4x4.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEMATRIX4X4_H__ +#define __ICEMATRIX4X4_H__ + + // Forward declarations + class PRS; + class PR; + + #define MATRIX4X4_EPSILON (1.0e-7f) + + class ICEMATHS_API Matrix4x4 + { +// void LUBackwardSubstitution( sdword *indx, float* b ); +// void LUDecomposition( sdword* indx, float* d ); + + public: + //! Empty constructor. + inline_ Matrix4x4() {} + //! Constructor from 16 values + inline_ Matrix4x4( float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23, + float m30, float m31, float m32, float m33) + { + m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03; + m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13; + m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23; + m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33; + } + //! Copy constructor + inline_ Matrix4x4(const Matrix4x4& mat) { CopyMemory(m, &mat.m, 16*sizeof(float)); } + //! Destructor. + inline_ ~Matrix4x4() {} + + //! Assign values (rotation only) + template<typename trotationfloat> + inline_ Matrix4x4& Set( trotationfloat m00, trotationfloat m01, trotationfloat m02, + trotationfloat m10, trotationfloat m11, trotationfloat m12, + trotationfloat m20, trotationfloat m21, trotationfloat m22) + { + m[0][0] = (float)m00; m[0][1] = (float)m01; m[0][2] = (float)m02; + m[1][0] = (float)m10; m[1][1] = (float)m11; m[1][2] = (float)m12; + m[2][0] = (float)m20; m[2][1] = (float)m21; m[2][2] = (float)m22; + return *this; + } + //! Assign values + template<typename trotationfloat, typename toffsetfloat, typename textrafloat> + inline_ Matrix4x4& Set( trotationfloat m00, trotationfloat m01, trotationfloat m02, textrafloat m03, + trotationfloat m10, trotationfloat m11, trotationfloat m12, textrafloat m13, + trotationfloat m20, trotationfloat m21, trotationfloat m22, textrafloat m23, + toffsetfloat m30, toffsetfloat m31, toffsetfloat m32, textrafloat m33) + { + m[0][0] = (float)m00; m[0][1] = (float)m01; m[0][2] = (float)m02; m[0][3] = (float)m03; + m[1][0] = (float)m10; m[1][1] = (float)m11; m[1][2] = (float)m12; m[1][3] = (float)m13; + m[2][0] = (float)m20; m[2][1] = (float)m21; m[2][2] = (float)m22; m[2][3] = (float)m23; + m[3][0] = (float)m30; m[3][1] = (float)m31; m[3][2] = (float)m32; m[3][3] = (float)m33; + return *this; + } + + //! Copy from a Matrix4x4 + inline_ void Copy(const Matrix4x4& source) { CopyMemory(m, source.m, 16*sizeof(float)); } + + // Row-column access + //! Returns a row. + inline_ void GetRow(const udword r, HPoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; p.w=m[r][3]; } + //! Returns a row. + inline_ void GetRow(const udword r, Point& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; } + //! Returns a row. + inline_ const HPoint& GetRow(const udword r) const { return *(const HPoint*)&m[r][0]; } + //! Returns a row. + inline_ HPoint& GetRow(const udword r) { return *(HPoint*)&m[r][0]; } + //! Sets a row. + inline_ void SetRow(const udword r, const HPoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]=p.w; } + //! Sets a row. + inline_ void SetRow(const udword r, const Point& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]= (r!=3) ? 0.0f : 1.0f; } + //! Returns a column. + inline_ void GetCol(const udword c, HPoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; p.w=m[3][c]; } + //! Returns a column. + inline_ void GetCol(const udword c, Point& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; } + //! Sets a column. + inline_ void SetCol(const udword c, const HPoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]=p.w; } + //! Sets a column. + inline_ void SetCol(const udword c, const Point& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]= (c!=3) ? 0.0f : 1.0f; } + + // Translation + //! Returns the translation part of the matrix. + inline_ const HPoint& GetTrans() const { return GetRow(3); } + //! Gets the translation part of the matrix + inline_ void GetTrans(Point& p) const { p.x=m[3][0]; p.y=m[3][1]; p.z=m[3][2]; } + //! Sets the translation part of the matrix, from a Point. + inline_ void SetTrans(const Point& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; } + //! Sets the translation part of the matrix, from a HPoint. + inline_ void SetTrans(const HPoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; m[3][3]=p.w; } + //! Sets the translation part of the matrix, from floats. + inline_ void SetTrans(float tx, float ty, float tz) { m[3][0]=tx; m[3][1]=ty; m[3][2]=tz; } + + // Scale + //! Sets the scale from a Point. The point is put on the diagonal. + inline_ void SetScale(const Point& p) { m[0][0]=p.x; m[1][1]=p.y; m[2][2]=p.z; } + //! Sets the scale from floats. Values are put on the diagonal. + inline_ void SetScale(float sx, float sy, float sz) { m[0][0]=sx; m[1][1]=sy; m[2][2]=sz; } + //! Scales from a Point. Each row is multiplied by a component. + void Scale(const Point& p) + { + m[0][0] *= p.x; m[1][0] *= p.y; m[2][0] *= p.z; + m[0][1] *= p.x; m[1][1] *= p.y; m[2][1] *= p.z; + m[0][2] *= p.x; m[1][2] *= p.y; m[2][2] *= p.z; + } + //! Scales from floats. Each row is multiplied by a value. + void Scale(float sx, float sy, float sz) + { + m[0][0] *= sx; m[1][0] *= sy; m[2][0] *= sz; + m[0][1] *= sx; m[1][1] *= sy; m[2][1] *= sz; + m[0][2] *= sx; m[1][2] *= sy; m[2][2] *= sz; + } +/* + //! Returns a row. + inline_ HPoint GetRow(const udword row) const { return mRow[row]; } + //! Sets a row. + inline_ Matrix4x4& SetRow(const udword row, const HPoint& p) { mRow[row] = p; return *this; } + //! Sets a row. + Matrix4x4& SetRow(const udword row, const Point& p) + { + m[row][0] = p.x; + m[row][1] = p.y; + m[row][2] = p.z; + m[row][3] = (row != 3) ? 0.0f : 1.0f; + return *this; + } + //! Returns a column. + HPoint GetCol(const udword col) const + { + HPoint Res; + Res.x = m[0][col]; + Res.y = m[1][col]; + Res.z = m[2][col]; + Res.w = m[3][col]; + return Res; + } + //! Sets a column. + Matrix4x4& SetCol(const udword col, const HPoint& p) + { + m[0][col] = p.x; + m[1][col] = p.y; + m[2][col] = p.z; + m[3][col] = p.w; + return *this; + } + //! Sets a column. + Matrix4x4& SetCol(const udword col, const Point& p) + { + m[0][col] = p.x; + m[1][col] = p.y; + m[2][col] = p.z; + m[3][col] = (col != 3) ? 0.0f : 1.0f; + return *this; + } +*/ + //! Computes the trace. The trace is the sum of the 4 diagonal components. + inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2] + m[3][3]; } + //! Computes the trace of the upper 3x3 matrix. + inline_ float Trace3x3() const { return m[0][0] + m[1][1] + m[2][2]; } + //! Clears the matrix. + inline_ void Zero() { ZeroMemory(&m, sizeof(m)); } + //! Sets the identity matrix. + inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f; } + //! Checks for identity + inline_ bool IsIdentity() const + { + if(IR(m[0][0])!=IEEE_1_0) return false; + if(IR(m[0][1])!=0) return false; + if(IR(m[0][2])!=0) return false; + if(IR(m[0][3])!=0) return false; + + if(IR(m[1][0])!=0) return false; + if(IR(m[1][1])!=IEEE_1_0) return false; + if(IR(m[1][2])!=0) return false; + if(IR(m[1][3])!=0) return false; + + if(IR(m[2][0])!=0) return false; + if(IR(m[2][1])!=0) return false; + if(IR(m[2][2])!=IEEE_1_0) return false; + if(IR(m[2][3])!=0) return false; + + if(IR(m[3][0])!=0) return false; + if(IR(m[3][1])!=0) return false; + if(IR(m[3][2])!=0) return false; + if(IR(m[3][3])!=IEEE_1_0) return false; + return true; + } + + //! Checks matrix validity + inline_ BOOL IsValid() const + { + for(udword j=0;j<4;j++) + { + for(udword i=0;i<4;i++) + { + if(!IsValidFloat(m[j][i])) return FALSE; + } + } + return TRUE; + } + + //! Sets a rotation matrix around the X axis. + void RotX(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[1][1] = m[2][2] = Cos; m[2][1] = -Sin; m[1][2] = Sin; } + //! Sets a rotation matrix around the Y axis. + void RotY(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[2][2] = Cos; m[2][0] = Sin; m[0][2] = -Sin; } + //! Sets a rotation matrix around the Z axis. + void RotZ(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[1][1] = Cos; m[1][0] = -Sin; m[0][1] = Sin; } + + //! Makes a rotation matrix about an arbitrary axis + Matrix4x4& Rot(float angle, Point& p1, Point& p2); + + //! Transposes the matrix. + void Transpose() + { + TSwap(m[1][0], m[0][1]); + TSwap(m[2][0], m[0][2]); + TSwap(m[3][0], m[0][3]); + TSwap(m[1][2], m[2][1]); + TSwap(m[1][3], m[3][1]); + TSwap(m[2][3], m[3][2]); + } + + //! Computes a cofactor. Used for matrix inversion. + float CoFactor(udword row, udword col) const; + //! Computes the determinant of the matrix. + float Determinant() const; + //! Inverts the matrix. Determinant must be different from zero, else matrix can't be inverted. + Matrix4x4& Invert(); +// Matrix& ComputeAxisMatrix(Point& axis, float angle); + + // Cast operators + //! Casts a Matrix4x4 to a Matrix3x3. + inline_ operator Matrix3x3() const + { + return Matrix3x3( + m[0][0], m[0][1], m[0][2], + m[1][0], m[1][1], m[1][2], + m[2][0], m[2][1], m[2][2]); + } + //! Casts a Matrix4x4 to a Quat. + operator Quat() const; + //! Casts a Matrix4x4 to a PR. + operator PR() const; + + // Arithmetic operators + //! Operator for Matrix4x4 Plus = Matrix4x4 + Matrix4x4; + inline_ Matrix4x4 operator+(const Matrix4x4& mat) const + { + return Matrix4x4( + m[0][0]+mat.m[0][0], m[0][1]+mat.m[0][1], m[0][2]+mat.m[0][2], m[0][3]+mat.m[0][3], + m[1][0]+mat.m[1][0], m[1][1]+mat.m[1][1], m[1][2]+mat.m[1][2], m[1][3]+mat.m[1][3], + m[2][0]+mat.m[2][0], m[2][1]+mat.m[2][1], m[2][2]+mat.m[2][2], m[2][3]+mat.m[2][3], + m[3][0]+mat.m[3][0], m[3][1]+mat.m[3][1], m[3][2]+mat.m[3][2], m[3][3]+mat.m[3][3]); + } + + //! Operator for Matrix4x4 Minus = Matrix4x4 - Matrix4x4; + inline_ Matrix4x4 operator-(const Matrix4x4& mat) const + { + return Matrix4x4( + m[0][0]-mat.m[0][0], m[0][1]-mat.m[0][1], m[0][2]-mat.m[0][2], m[0][3]-mat.m[0][3], + m[1][0]-mat.m[1][0], m[1][1]-mat.m[1][1], m[1][2]-mat.m[1][2], m[1][3]-mat.m[1][3], + m[2][0]-mat.m[2][0], m[2][1]-mat.m[2][1], m[2][2]-mat.m[2][2], m[2][3]-mat.m[2][3], + m[3][0]-mat.m[3][0], m[3][1]-mat.m[3][1], m[3][2]-mat.m[3][2], m[3][3]-mat.m[3][3]); + } + + //! Operator for Matrix4x4 Mul = Matrix4x4 * Matrix4x4; + inline_ Matrix4x4 operator*(const Matrix4x4& mat) const + { + return Matrix4x4( + m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0] + m[0][3]*mat.m[3][0], + m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1] + m[0][3]*mat.m[3][1], + m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2] + m[0][3]*mat.m[3][2], + m[0][0]*mat.m[0][3] + m[0][1]*mat.m[1][3] + m[0][2]*mat.m[2][3] + m[0][3]*mat.m[3][3], + + m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0] + m[1][3]*mat.m[3][0], + m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1] + m[1][3]*mat.m[3][1], + m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2] + m[1][3]*mat.m[3][2], + m[1][0]*mat.m[0][3] + m[1][1]*mat.m[1][3] + m[1][2]*mat.m[2][3] + m[1][3]*mat.m[3][3], + + m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0] + m[2][3]*mat.m[3][0], + m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1] + m[2][3]*mat.m[3][1], + m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2] + m[2][3]*mat.m[3][2], + m[2][0]*mat.m[0][3] + m[2][1]*mat.m[1][3] + m[2][2]*mat.m[2][3] + m[2][3]*mat.m[3][3], + + m[3][0]*mat.m[0][0] + m[3][1]*mat.m[1][0] + m[3][2]*mat.m[2][0] + m[3][3]*mat.m[3][0], + m[3][0]*mat.m[0][1] + m[3][1]*mat.m[1][1] + m[3][2]*mat.m[2][1] + m[3][3]*mat.m[3][1], + m[3][0]*mat.m[0][2] + m[3][1]*mat.m[1][2] + m[3][2]*mat.m[2][2] + m[3][3]*mat.m[3][2], + m[3][0]*mat.m[0][3] + m[3][1]*mat.m[1][3] + m[3][2]*mat.m[2][3] + m[3][3]*mat.m[3][3]); + } + + //! Operator for HPoint Mul = Matrix4x4 * HPoint; + inline_ HPoint operator*(const HPoint& v) const { return HPoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v, GetRow(3)|v); } + + //! Operator for Point Mul = Matrix4x4 * Point; + inline_ Point operator*(const Point& v) const + { + return Point( m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3], + m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3], + m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3] ); + } + + //! Operator for Matrix4x4 Scale = Matrix4x4 * float; + inline_ Matrix4x4 operator*(float s) const + { + return Matrix4x4( + m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, + m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); + } + + //! Operator for Matrix4x4 Scale = float * Matrix4x4; + inline_ friend Matrix4x4 operator*(float s, const Matrix4x4& mat) + { + return Matrix4x4( + s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], s*mat.m[0][3], + s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], s*mat.m[1][3], + s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2], s*mat.m[2][3], + s*mat.m[3][0], s*mat.m[3][1], s*mat.m[3][2], s*mat.m[3][3]); + } + + //! Operator for Matrix4x4 Div = Matrix4x4 / float; + inline_ Matrix4x4 operator/(float s) const + { + if(s) s = 1.0f / s; + + return Matrix4x4( + m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, + m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, + m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, + m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); + } + + //! Operator for Matrix4x4 Div = float / Matrix4x4; + inline_ friend Matrix4x4 operator/(float s, const Matrix4x4& mat) + { + return Matrix4x4( + s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], s/mat.m[0][3], + s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], s/mat.m[1][3], + s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2], s/mat.m[2][3], + s/mat.m[3][0], s/mat.m[3][1], s/mat.m[3][2], s/mat.m[3][3]); + } + + //! Operator for Matrix4x4 += Matrix4x4; + inline_ Matrix4x4& operator+=(const Matrix4x4& mat) + { + m[0][0]+=mat.m[0][0]; m[0][1]+=mat.m[0][1]; m[0][2]+=mat.m[0][2]; m[0][3]+=mat.m[0][3]; + m[1][0]+=mat.m[1][0]; m[1][1]+=mat.m[1][1]; m[1][2]+=mat.m[1][2]; m[1][3]+=mat.m[1][3]; + m[2][0]+=mat.m[2][0]; m[2][1]+=mat.m[2][1]; m[2][2]+=mat.m[2][2]; m[2][3]+=mat.m[2][3]; + m[3][0]+=mat.m[3][0]; m[3][1]+=mat.m[3][1]; m[3][2]+=mat.m[3][2]; m[3][3]+=mat.m[3][3]; + return *this; + } + + //! Operator for Matrix4x4 -= Matrix4x4; + inline_ Matrix4x4& operator-=(const Matrix4x4& mat) + { + m[0][0]-=mat.m[0][0]; m[0][1]-=mat.m[0][1]; m[0][2]-=mat.m[0][2]; m[0][3]-=mat.m[0][3]; + m[1][0]-=mat.m[1][0]; m[1][1]-=mat.m[1][1]; m[1][2]-=mat.m[1][2]; m[1][3]-=mat.m[1][3]; + m[2][0]-=mat.m[2][0]; m[2][1]-=mat.m[2][1]; m[2][2]-=mat.m[2][2]; m[2][3]-=mat.m[2][3]; + m[3][0]-=mat.m[3][0]; m[3][1]-=mat.m[3][1]; m[3][2]-=mat.m[3][2]; m[3][3]-=mat.m[3][3]; + return *this; + } + + //! Operator for Matrix4x4 *= Matrix4x4; + Matrix4x4& operator*=(const Matrix4x4& mat) + { + HPoint TempRow; + + GetRow(0, TempRow); + m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[0][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + GetRow(1, TempRow); + m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[1][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + GetRow(2, TempRow); + m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[2][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + GetRow(3, TempRow); + m[3][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; + m[3][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; + m[3][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; + m[3][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; + + return *this; + } + + //! Operator for Matrix4x4 *= float; + inline_ Matrix4x4& operator*=(float s) + { + m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; + m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; + m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; + m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; + return *this; + } + + //! Operator for Matrix4x4 /= float; + inline_ Matrix4x4& operator/=(float s) + { + if(s) s = 1.0f / s; + m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; + m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; + m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; + m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; + return *this; + } + + inline_ const HPoint& operator[](int row) const { return *(const HPoint*)&m[row][0]; } + inline_ HPoint& operator[](int row) { return *(HPoint*)&m[row][0]; } + + public: + + float m[4][4]; + }; + + //! Quickly rotates & translates a vector, using the 4x3 part of a 4x4 matrix + inline_ void TransformPoint4x3(Point& dest, const Point& source, const Matrix4x4& rot) + { + dest.x = rot.m[3][0] + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; + dest.y = rot.m[3][1] + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; + dest.z = rot.m[3][2] + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; + } + + //! Quickly rotates a vector, using the 3x3 part of a 4x4 matrix + inline_ void TransformPoint3x3(Point& dest, const Point& source, const Matrix4x4& rot) + { + dest.x = source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; + dest.y = source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; + dest.z = source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; + } + + ICEMATHS_API void InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src); + +#endif // __ICEMATRIX4X4_H__ + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceMemoryMacros.h b/libs/ode-0.16.1/OPCODE/Ice/IceMemoryMacros.h new file mode 100644 index 0000000..ad25c44 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceMemoryMacros.h @@ -0,0 +1,86 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains all memory macros. + * \file IceMemoryMacros.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEMEMORYMACROS_H__ +#define __ICEMEMORYMACROS_H__ + +#undef ZeroMemory +#undef CopyMemory +#undef MoveMemory +#undef FillMemory + + //! Clears a buffer. + //! \param addr [in] buffer address + //! \param size [in] buffer length + //! \see FillMemory + //! \see StoreDwords + //! \see CopyMemory + //! \see MoveMemory + inline_ void ZeroMemory(void* addr, udword size) { memset(addr, 0, size); } + + //! Fills a buffer with a given byte. + //! \param addr [in] buffer address + //! \param size [in] buffer length + //! \param val [in] the byte value + //! \see StoreDwords + //! \see ZeroMemory + //! \see CopyMemory + //! \see MoveMemory + inline_ void FillMemory(void* dest, udword size, ubyte val) { memset(dest, val, size); } + + //! Fills a buffer with a given dword. + //! \param addr [in] buffer address + //! \param nb [in] number of dwords to write + //! \param value [in] the dword value + //! \see FillMemory + //! \see ZeroMemory + //! \see CopyMemory + //! \see MoveMemory + //! \warning writes nb*4 bytes ! + inline_ void StoreDwords(udword* dest, udword nb, udword value) + { + while(nb--) *dest++ = value; + } + + //! Copies a buffer. + //! \param addr [in] destination buffer address + //! \param addr [in] source buffer address + //! \param size [in] buffer length + //! \see ZeroMemory + //! \see FillMemory + //! \see StoreDwords + //! \see MoveMemory + inline_ void CopyMemory(void* dest, const void* src, udword size) { memcpy(dest, src, size); } + + //! Moves a buffer. + //! \param addr [in] destination buffer address + //! \param addr [in] source buffer address + //! \param size [in] buffer length + //! \see ZeroMemory + //! \see FillMemory + //! \see StoreDwords + //! \see CopyMemory + inline_ void MoveMemory(void* dest, const void* src, udword size) { memmove(dest, src, size); } + + #define SIZEOFOBJECT sizeof(*this) //!< Gives the size of current object. Avoid some mistakes (e.g. "sizeof(this)"). + //#define CLEAROBJECT { memset(this, 0, SIZEOFOBJECT); } //!< Clears current object. Laziness is my business. HANDLE WITH CARE. + #define DELETESINGLE(x) if (x) { delete x; x = null; } //!< Deletes an instance of a class. + #define DELETEARRAY(x) if (x) { delete []x; x = null; } //!< Deletes an array. + #define SAFE_RELEASE(x) if (x) { (x)->Release(); (x) = null; } //!< Safe D3D-style release + #define SAFE_DESTRUCT(x) if (x) { (x)->SelfDestruct(); (x) = null; } //!< Safe ICE-style release + +#ifdef __ICEERROR_H__ + #define CHECKALLOC(x) if(!x) return SetIceError("Out of memory.", EC_OUT_OF_MEMORY); //!< Standard alloc checking. HANDLE WITH CARE. +#else + #define CHECKALLOC(x) if(!x) return false; +#endif + +#endif // __ICEMEMORYMACROS_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceOBB.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceOBB.cpp new file mode 100644 index 0000000..0ad1ce3 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceOBB.cpp @@ -0,0 +1,324 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains OBB-related code. + * \file IceOBB.cpp + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * An Oriented Bounding Box (OBB). + * \class OBB + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Tests if a point is contained within the OBB. + * \param p [in] the world point to test + * \return true if inside the OBB + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ContainsPoint(const Point& p) const +{ + // Point in OBB test using lazy evaluation and early exits + + // Translate to box space + Point RelPoint = p - mCenter; + + // Point * mRot maps from box space to world space + // mRot * Point maps from world space to box space (what we need here) + + float f = mRot.m[0][0] * RelPoint.x + mRot.m[0][1] * RelPoint.y + mRot.m[0][2] * RelPoint.z; + if(f >= mExtents.x || f <= -mExtents.x) return false; + + f = mRot.m[1][0] * RelPoint.x + mRot.m[1][1] * RelPoint.y + mRot.m[1][2] * RelPoint.z; + if(f >= mExtents.y || f <= -mExtents.y) return false; + + f = mRot.m[2][0] * RelPoint.x + mRot.m[2][1] * RelPoint.y + mRot.m[2][2] * RelPoint.z; + if(f >= mExtents.z || f <= -mExtents.z) return false; + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds an OBB from an AABB and a world transform. + * \param aabb [in] the aabb + * \param mat [in] the world transform + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void OBB::Create(const AABB& aabb, const Matrix4x4& mat) +{ + // Note: must be coherent with Rotate() + + aabb.GetCenter(mCenter); + aabb.GetExtents(mExtents); + // Here we have the same as OBB::Rotate(mat) where the obb is (mCenter, mExtents, Identity). + + // So following what's done in Rotate: + // - x-form the center + mCenter *= mat; + // - combine rotation with identity, i.e. just use given matrix + mRot = mat; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the obb planes. + * \param planes [out] 6 box planes + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ComputePlanes(Plane* planes) const +{ + // Checkings + if(!planes) return false; + + Point Axis0 = mRot[0]; + Point Axis1 = mRot[1]; + Point Axis2 = mRot[2]; + + // Writes normals + planes[0].n = Axis0; + planes[1].n = -Axis0; + planes[2].n = Axis1; + planes[3].n = -Axis1; + planes[4].n = Axis2; + planes[5].n = -Axis2; + + // Compute a point on each plane + Point p0 = mCenter + Axis0 * mExtents.x; + Point p1 = mCenter - Axis0 * mExtents.x; + Point p2 = mCenter + Axis1 * mExtents.y; + Point p3 = mCenter - Axis1 * mExtents.y; + Point p4 = mCenter + Axis2 * mExtents.z; + Point p5 = mCenter - Axis2 * mExtents.z; + + // Compute d + planes[0].d = -(planes[0].n|p0); + planes[1].d = -(planes[1].n|p1); + planes[2].d = -(planes[2].n|p2); + planes[3].d = -(planes[3].n|p3); + planes[4].d = -(planes[4].n|p4); + planes[5].d = -(planes[5].n|p5); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the obb points. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ComputePoints(Point* pts) const +{ + // Checkings + if(!pts) return false; + + Point Axis0 = mRot[0]; + Point Axis1 = mRot[1]; + Point Axis2 = mRot[2]; + + Axis0 *= mExtents.x; + Axis1 *= mExtents.y; + Axis2 *= mExtents.z; + + // 7+------+6 0 = --- + // /| /| 1 = +-- + // / | / | 2 = ++- + // / 4+---/--+5 3 = -+- + // 3+------+2 / y z 4 = --+ + // | / | / | / 5 = +-+ + // |/ |/ |/ 6 = +++ + // 0+------+1 *---x 7 = -++ + + pts[0] = mCenter - Axis0 - Axis1 - Axis2; + pts[1] = mCenter + Axis0 - Axis1 - Axis2; + pts[2] = mCenter + Axis0 + Axis1 - Axis2; + pts[3] = mCenter - Axis0 + Axis1 - Axis2; + pts[4] = mCenter - Axis0 - Axis1 + Axis2; + pts[5] = mCenter + Axis0 - Axis1 + Axis2; + pts[6] = mCenter + Axis0 + Axis1 + Axis2; + pts[7] = mCenter - Axis0 + Axis1 + Axis2; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes vertex normals. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool OBB::ComputeVertexNormals(Point* pts) const +{ + static const float VertexNormals[] = + { + -INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, INVSQRT3, INVSQRT3, + -INVSQRT3, INVSQRT3, INVSQRT3 + }; + + if(!pts) return false; + + const Point* VN = (const Point*)VertexNormals; + for(udword i=0;i<8;i++) + { + pts[i] = VN[i] * mRot; + } + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edges. + * \return 24 indices (12 edges) indexing the list returned by ComputePoints() + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const udword* OBB::GetEdges() const +{ + static const udword Indices[] = { + 0, 1, 1, 2, 2, 3, 3, 0, + 7, 6, 6, 5, 5, 4, 4, 7, + 1, 5, 6, 2, + 3, 7, 4, 0 + }; + return Indices; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns local edge normals. + * \return edge normals in local space + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const Point* OBB::GetLocalEdgeNormals() const +{ + static const float EdgeNormals[] = + { + 0, -INVSQRT2, -INVSQRT2, // 0-1 + INVSQRT2, 0, -INVSQRT2, // 1-2 + 0, INVSQRT2, -INVSQRT2, // 2-3 + -INVSQRT2, 0, -INVSQRT2, // 3-0 + + 0, INVSQRT2, INVSQRT2, // 7-6 + INVSQRT2, 0, INVSQRT2, // 6-5 + 0, -INVSQRT2, INVSQRT2, // 5-4 + -INVSQRT2, 0, INVSQRT2, // 4-7 + + INVSQRT2, -INVSQRT2, 0, // 1-5 + INVSQRT2, INVSQRT2, 0, // 6-2 + -INVSQRT2, INVSQRT2, 0, // 3-7 + -INVSQRT2, -INVSQRT2, 0 // 4-0 + }; + return (const Point*)EdgeNormals; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns world edge normal + * \param edge_index [in] 0 <= edge index < 12 + * \param world_normal [out] edge normal in world space + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void OBB::ComputeWorldEdgeNormal(udword edge_index, Point& world_normal) const +{ + ASSERT(edge_index<12); + world_normal = GetLocalEdgeNormals()[edge_index] * mRot; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes an LSS surrounding the OBB. + * \param lss [out] the LSS + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void OBB::ComputeLSS(LSS& lss) const +{ + Point Axis0 = mRot[0]; + Point Axis1 = mRot[1]; + Point Axis2 = mRot[2]; + + switch(mExtents.LargestAxis()) + { + case 0: + lss.mRadius = (mExtents.y + mExtents.z)*0.5f; + lss.mP0 = mCenter + Axis0 * (mExtents.x - lss.mRadius); + lss.mP1 = mCenter - Axis0 * (mExtents.x - lss.mRadius); + break; + case 1: + lss.mRadius = (mExtents.x + mExtents.z)*0.5f; + lss.mP0 = mCenter + Axis1 * (mExtents.y - lss.mRadius); + lss.mP1 = mCenter - Axis1 * (mExtents.y - lss.mRadius); + break; + case 2: + lss.mRadius = (mExtents.x + mExtents.y)*0.5f; + lss.mP0 = mCenter + Axis2 * (mExtents.z - lss.mRadius); + lss.mP1 = mCenter - Axis2 * (mExtents.z - lss.mRadius); + break; + default: {} + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the OBB is inside another OBB. + * \param box [in] the other OBB + * \return TRUE if we're inside the other box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL OBB::IsInside(const OBB& box) const +{ + // Make a 4x4 from the box & inverse it + Matrix4x4 M0Inv; + { + Matrix4x4 M0 = box.mRot; + M0.SetTrans(box.mCenter); + InvertPRMatrix(M0Inv, M0); + } + + // With our inversed 4x4, create box1 in space of box0 + OBB _1in0; + Rotate(M0Inv, _1in0); + + // This should cancel out box0's rotation, i.e. it's now an AABB. + // => Center(0,0,0), Rot(identity) + + // The two boxes are in the same space so now we can compare them. + + // Create the AABB of (box1 in space of box0) + const Matrix3x3& mtx = _1in0.mRot; + + float f = fabsf(mtx.m[0][0] * mExtents.x) + fabsf(mtx.m[1][0] * mExtents.y) + fabsf(mtx.m[2][0] * mExtents.z) - box.mExtents.x; + if(f > _1in0.mCenter.x) return FALSE; + if(-f < _1in0.mCenter.x) return FALSE; + + f = fabsf(mtx.m[0][1] * mExtents.x) + fabsf(mtx.m[1][1] * mExtents.y) + fabsf(mtx.m[2][1] * mExtents.z) - box.mExtents.y; + if(f > _1in0.mCenter.y) return FALSE; + if(-f < _1in0.mCenter.y) return FALSE; + + f = fabsf(mtx.m[0][2] * mExtents.x) + fabsf(mtx.m[1][2] * mExtents.y) + fabsf(mtx.m[2][2] * mExtents.z) - box.mExtents.z; + if(f > _1in0.mCenter.z) return FALSE; + if(-f < _1in0.mCenter.z) return FALSE; + + return TRUE; +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceOBB.h b/libs/ode-0.16.1/OPCODE/Ice/IceOBB.h new file mode 100644 index 0000000..d6cf43e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceOBB.h @@ -0,0 +1,177 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains OBB-related code. (oriented bounding box) + * \file IceOBB.h + * \author Pierre Terdiman + * \date January, 13, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEOBB_H__ +#define __ICEOBB_H__ + + // Forward declarations + class LSS; + + class ICEMATHS_API OBB + { + public: + //! Constructor + inline_ OBB() {} + //! Constructor + inline_ OBB(const Point& center, const Point& extents, const Matrix3x3& rot) : mCenter(center), mExtents(extents), mRot(rot) {} + //! Destructor + inline_ ~OBB() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an empty OBB. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void SetEmpty() + { + mCenter.Zero(); + mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); + mRot.Identity(); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Tests if a point is contained within the OBB. + * \param p [in] the world point to test + * \return true if inside the OBB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ContainsPoint(const Point& p) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds an OBB from an AABB and a world transform. + * \param aabb [in] the aabb + * \param mat [in] the world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void Create(const AABB& aabb, const Matrix4x4& mat); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Recomputes the OBB after an arbitrary transform by a 4x4 matrix. + * \param mtx [in] the transform matrix + * \param obb [out] the transformed OBB + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void Rotate(const Matrix4x4& mtx, OBB& obb) const + { + // The extents remain constant + obb.mExtents = mExtents; + // The center gets x-formed + obb.mCenter = mCenter * mtx; + // Combine rotations + obb.mRot = mRot * Matrix3x3(mtx); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the OBB is valid. + * \return true if the box is valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsValid() const + { + // Consistency condition for (Center, Extents) boxes: Extents >= 0.0f + if(mExtents.x < 0.0f) return FALSE; + if(mExtents.y < 0.0f) return FALSE; + if(mExtents.z < 0.0f) return FALSE; + return TRUE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the obb planes. + * \param planes [out] 6 box planes + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ComputePlanes(Plane* planes) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the obb points. + * \param pts [out] 8 box points + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ComputePoints(Point* pts) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes vertex normals. + * \param pts [out] 8 box points + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool ComputeVertexNormals(Point* pts) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns edges. + * \return 24 indices (12 edges) indexing the list returned by ComputePoints() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + const udword* GetEdges() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns local edge normals. + * \return edge normals in local space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + const Point* GetLocalEdgeNormals() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns world edge normal + * \param edge_index [in] 0 <= edge index < 12 + * \param world_normal [out] edge normal in world space + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void ComputeWorldEdgeNormal(udword edge_index, Point& world_normal) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes an LSS surrounding the OBB. + * \param lss [out] the LSS + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + void ComputeLSS(LSS& lss) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the OBB is inside another OBB. + * \param box [in] the other OBB + * \return TRUE if we're inside the other box + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + BOOL IsInside(const OBB& box) const; + + inline_ const Point& GetCenter() const { return mCenter; } + inline_ const Point& GetExtents() const { return mExtents; } + inline_ const Matrix3x3& GetRot() const { return mRot; } + + inline_ void GetRotatedExtents(Matrix3x3& extents) const + { + extents = mRot; + extents.Scale(mExtents); + } + + Point mCenter; //!< B for Box + Point mExtents; //!< B for Bounding + Matrix3x3 mRot; //!< O for Oriented + + // Orientation is stored in row-major format, + // i.e. rows = eigen vectors of the covariance matrix + }; + +#endif // __ICEOBB_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IcePairs.h b/libs/ode-0.16.1/OPCODE/Ice/IcePairs.h new file mode 100644 index 0000000..2c09b92 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IcePairs.h @@ -0,0 +1,45 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a simple pair class. + * \file IcePairs.h + * \author Pierre Terdiman + * \date January, 13, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPAIRS_H__ +#define __ICEPAIRS_H__ + + //! A generic couple structure + struct ICECORE_API Pair + { + inline_ Pair() {} + inline_ Pair(udword i0, udword i1) : id0(i0), id1(i1) {} + + udword id0; //!< First index of the pair + udword id1; //!< Second index of the pair + }; + + class ICECORE_API Pairs : private Container + { + public: + // Constructor / Destructor + Pairs() {} + ~Pairs() {} + + inline_ udword GetNbPairs() const { return GetNbEntries()>>1; } + inline_ const Pair* GetPairs() const { return (const Pair*)GetEntries(); } + inline_ const Pair* GetPair(udword i) const { return (const Pair*)&GetEntries()[i+i]; } + + inline_ BOOL HasPairs() const { return IsNotEmpty(); } + + inline_ void ResetPairs() { Reset(); } + inline_ void DeleteLastPair() { DeleteLastEntry(); DeleteLastEntry(); } + + inline_ void AddPair(const Pair& p) { Add(p.id0).Add(p.id1); } + inline_ void AddPair(udword id0, udword id1) { Add(id0).Add(id1); } + }; + +#endif // __ICEPAIRS_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IcePlane.cpp b/libs/ode-0.16.1/OPCODE/Ice/IcePlane.cpp new file mode 100644 index 0000000..394b31b --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IcePlane.cpp @@ -0,0 +1,45 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for planes. + * \file IcePlane.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Plane class. + * \class Plane + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the plane equation from 3 points. + * \param p0 [in] first point + * \param p1 [in] second point + * \param p2 [in] third point + * \return Self-reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Plane& Plane::Set(const Point& p0, const Point& p1, const Point& p2) +{ + Point Edge0 = p1 - p0; + Point Edge1 = p2 - p0; + + n = Edge0 ^ Edge1; + n.Normalize(); + + d = -(p0 | n); + + return *this; +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IcePlane.h b/libs/ode-0.16.1/OPCODE/Ice/IcePlane.h new file mode 100644 index 0000000..4d47081 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IcePlane.h @@ -0,0 +1,113 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for planes. + * \file IcePlane.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPLANE_H__ +#define __ICEPLANE_H__ + + #define PLANE_EPSILON (1.0e-7f) + + class ICEMATHS_API Plane + { + public: + //! Constructor + inline_ Plane() { } + //! Constructor from a normal and a distance + inline_ Plane(float nx, float ny, float nz, float d) { Set(nx, ny, nz, d); } + //! Constructor from a point on the plane and a normal + inline_ Plane(const Point& p, const Point& n) { Set(p, n); } + //! Constructor from three points + inline_ Plane(const Point& p0, const Point& p1, const Point& p2) { Set(p0, p1, p2); } + //! Constructor from a normal and a distance + inline_ Plane(const Point& _n, float _d) { n = _n; d = _d; } + //! Copy constructor + inline_ Plane(const Plane& plane) : n(plane.n), d(plane.d) { } + //! Destructor + inline_ ~Plane() { } + + inline_ Plane& Zero() { n.Zero(); d = 0.0f; return *this; } + inline_ Plane& Set(float nx, float ny, float nz, float _d) { n.Set(nx, ny, nz); d = _d; return *this; } + inline_ Plane& Set(const Point& p, const Point& _n) { n = _n; d = - p | _n; return *this; } + Plane& Set(const Point& p0, const Point& p1, const Point& p2); + + inline_ float Distance(const Point& p) const { return (p | n) + d; } + inline_ bool Belongs(const Point& p) const { return fabsf(Distance(p)) < PLANE_EPSILON; } + + inline_ void Normalize() + { + float Denom = 1.0f / n.Magnitude(); + n.x *= Denom; + n.y *= Denom; + n.z *= Denom; + d *= Denom; + } + public: + // Members + Point n; //!< The normal to the plane + float d; //!< The distance from the origin + + // Cast operators + inline_ operator Point() const { return n; } + inline_ operator HPoint() const { return HPoint(n, d); } + + // Arithmetic operators + inline_ Plane operator*(const Matrix4x4& m) const + { + // Old code from Irion. Kept for reference. + Plane Ret(*this); + return Ret *= m; + } + + inline_ Plane& operator*=(const Matrix4x4& m) + { + // Old code from Irion. Kept for reference. + Point n2 = HPoint(n, 0.0f) * m; + d = -((Point) (HPoint( -d*n, 1.0f ) * m) | n2); + n = n2; + return *this; + } + }; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a plane by a 4x4 matrix. Same as Plane * Matrix4x4 operator, but faster. + * \param transformed [out] transformed plane + * \param plane [in] source plane + * \param transform [in] transform matrix + * \warning the plane normal must be unit-length + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void TransformPlane(Plane& transformed, const Plane& plane, const Matrix4x4& transform) + { + // Rotate the normal using the rotation part of the 4x4 matrix + transformed.n = plane.n * Matrix3x3(transform); + + // Compute new d + transformed.d = plane.d - (Point(transform.GetTrans())|transformed.n); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a plane by a 4x4 matrix. Same as Plane * Matrix4x4 operator, but faster. + * \param plane [in/out] source plane (transformed on return) + * \param transform [in] transform matrix + * \warning the plane normal must be unit-length + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void TransformPlane(Plane& plane, const Matrix4x4& transform) + { + // Rotate the normal using the rotation part of the 4x4 matrix + plane.n *= Matrix3x3(transform); + + // Compute new d + plane.d -= Point(transform.GetTrans())|plane.n; + } + +#endif // __ICEPLANE_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IcePoint.cpp b/libs/ode-0.16.1/OPCODE/Ice/IcePoint.cpp new file mode 100644 index 0000000..428908a --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IcePoint.cpp @@ -0,0 +1,191 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3D vectors. + * \file IcePoint.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 3D point. + * + * The name is "Point" instead of "Vector" since a vector is N-dimensional, whereas a point is an implicit "vector of dimension 3". + * So the choice was between "Point" and "Vector3", the first one looked better (IMHO). + * + * Some people, then, use a typedef to handle both points & vectors using the same class: typedef Point Vector3; + * This is bad since it opens the door to a lot of confusion while reading the code. I know it may sounds weird but check this out: + * + * \code + * Point P0,P1 = some 3D points; + * Point Delta = P1 - P0; + * \endcode + * + * This compiles fine, although you should have written: + * + * \code + * Point P0,P1 = some 3D points; + * Vector3 Delta = P1 - P0; + * \endcode + * + * Subtle things like this are not caught at compile-time, and when you find one in the code, you never know whether it's a mistake + * from the author or something you don't get. + * + * One way to handle it at compile-time would be to use different classes for Point & Vector3, only overloading operator "-" for vectors. + * But then, you get a lot of redundant code in thoses classes, and basically it's really a lot of useless work. + * + * Another way would be to use homogeneous points: w=1 for points, w=0 for vectors. That's why the HPoint class exists. Now, to store + * your model's vertices and in most cases, you really want to use Points to save ram. + * + * \class Point + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Creates a positive unit random vector. + * \return Self-reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Point& Point::PositiveUnitRandomVector() +{ + x = UnitRandomFloat(); + y = UnitRandomFloat(); + z = UnitRandomFloat(); + Normalize(); + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Creates a unit random vector. + * \return Self-reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Point& Point::UnitRandomVector() +{ + x = UnitRandomFloat() - 0.5f; + y = UnitRandomFloat() - 0.5f; + z = UnitRandomFloat() - 0.5f; + Normalize(); + return *this; +} + +// Cast operator +// WARNING: not inlined +Point::operator HPoint() const { return HPoint(x, y, z, 0.0f); } + +Point& Point::Refract(const Point& eye, const Point& n, float refractindex, Point& refracted) +{ + // Point EyePt = eye position + // Point p = current vertex + // Point n = vertex normal + // Point rv = refracted vector + // Eye vector - doesn't need to be normalized + Point Env; + Env.x = eye.x - x; + Env.y = eye.y - y; + Env.z = eye.z - z; + + float NDotE = n|Env; + float NDotN = n|n; + NDotE /= refractindex; + + // Refracted vector + refracted = n*NDotE - Env*NDotN; + + return *this; +} + +Point& Point::ProjectToPlane(const Plane& p) +{ + *this-= (p.d + (*this|p.n))*p.n; + return *this; +} + +void Point::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const +{ + projected = HPoint(x, y, z, 1.0f) * mat; + projected.w = 1.0f / projected.w; + + projected.x*=projected.w; + projected.y*=projected.w; + projected.z*=projected.w; + + projected.x *= halfrenderwidth; projected.x += halfrenderwidth; + projected.y *= -halfrenderheight; projected.y += halfrenderheight; +} + +void Point::SetNotUsed() +{ + // We use a particular integer pattern : 0xffffffff everywhere. This is a NAN. + x = y = z = FR(0xffffffff); +} + +BOOL Point::IsNotUsed() const +{ + if(IR(x)!=0xffffffff) return FALSE; + if(IR(y)!=0xffffffff) return FALSE; + if(IR(z)!=0xffffffff) return FALSE; + return TRUE; +} + +Point& Point::Mult(const Matrix3x3& mat, const Point& a) +{ + x = a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; + y = a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; + z = a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; + return *this; +} + +Point& Point::Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2) +{ + x = a1.x * mat1.m[0][0] + a1.y * mat1.m[0][1] + a1.z * mat1.m[0][2] + a2.x * mat2.m[0][0] + a2.y * mat2.m[0][1] + a2.z * mat2.m[0][2]; + y = a1.x * mat1.m[1][0] + a1.y * mat1.m[1][1] + a1.z * mat1.m[1][2] + a2.x * mat2.m[1][0] + a2.y * mat2.m[1][1] + a2.z * mat2.m[1][2]; + z = a1.x * mat1.m[2][0] + a1.y * mat1.m[2][1] + a1.z * mat1.m[2][2] + a2.x * mat2.m[2][0] + a2.y * mat2.m[2][1] + a2.z * mat2.m[2][2]; + return *this; +} + +Point& Point::Mac(const Matrix3x3& mat, const Point& a) +{ + x += a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; + y += a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; + z += a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; + return *this; +} + +Point& Point::TransMult(const Matrix3x3& mat, const Point& a) +{ + x = a.x * mat.m[0][0] + a.y * mat.m[1][0] + a.z * mat.m[2][0]; + y = a.x * mat.m[0][1] + a.y * mat.m[1][1] + a.z * mat.m[2][1]; + z = a.x * mat.m[0][2] + a.y * mat.m[1][2] + a.z * mat.m[2][2]; + return *this; +} + +Point& Point::Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos) +{ + x = r.x * rotpos.m[0][0] + r.y * rotpos.m[0][1] + r.z * rotpos.m[0][2] + linpos.x; + y = r.x * rotpos.m[1][0] + r.y * rotpos.m[1][1] + r.z * rotpos.m[1][2] + linpos.y; + z = r.x * rotpos.m[2][0] + r.y * rotpos.m[2][1] + r.z * rotpos.m[2][2] + linpos.z; + return *this; +} + +Point& Point::InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos) +{ + float sx = r.x - linpos.x; + float sy = r.y - linpos.y; + float sz = r.z - linpos.z; + x = sx * rotpos.m[0][0] + sy * rotpos.m[1][0] + sz * rotpos.m[2][0]; + y = sx * rotpos.m[0][1] + sy * rotpos.m[1][1] + sz * rotpos.m[2][1]; + z = sx * rotpos.m[0][2] + sy * rotpos.m[1][2] + sz * rotpos.m[2][2]; + return *this; +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IcePoint.h b/libs/ode-0.16.1/OPCODE/Ice/IcePoint.h new file mode 100644 index 0000000..7c8a931 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IcePoint.h @@ -0,0 +1,530 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for 3D vectors. + * \file IcePoint.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPOINT_H__ +#define __ICEPOINT_H__ + + // Forward declarations + class HPoint; + class Plane; + class Matrix3x3; + class Matrix4x4; + + #define CROSS2D(a, b) (a.x*b.y - b.x*a.y) + + const float EPSILON2 = 1.0e-20f; + + class ICEMATHS_API Point + { + public: + + //! Empty constructor + inline_ Point() {} + //! Constructor from a single float +// inline_ Point(float val) : x(val), y(val), z(val) {} +// Removed since it introduced the nasty "Point T = *Matrix4x4.GetTrans();" bug....... + //! Constructor from floats + template<typename toffsetfloat> + inline_ Point(toffsetfloat xx, toffsetfloat yy, toffsetfloat zz) : x((float)xx), y((float)yy), z((float)zz) {} + //! Constructor from array + inline_ Point(const float f[3]) : x(f[X]), y(f[Y]), z(f[Z]) {} + //! Copy constructor + inline_ Point(const Point& p) : x(p.x), y(p.y), z(p.z) {} + //! Destructor + inline_ ~Point() {} + + //! Clears the vector + inline_ Point& Zero() { x = y = z = 0.0f; return *this; } + + //! + infinity + inline_ Point& SetPlusInfinity() { x = y = z = MAX_FLOAT; return *this; } + //! - infinity + inline_ Point& SetMinusInfinity() { x = y = z = MIN_FLOAT; return *this; } + + //! Sets positive unit random vector + Point& PositiveUnitRandomVector(); + //! Sets unit random vector + Point& UnitRandomVector(); + + //! Assignment from values + template<typename toffsetfloat> + inline_ Point& Set(toffsetfloat xx, toffsetfloat yy, toffsetfloat zz) { x = (float)xx; y = (float)yy; z = (float)zz; return *this; } + //! Assignment from array + inline_ Point& Set(const float f[3]) { x = f[X]; y = f[Y]; z = f[Z]; return *this; } + //! Assignment from another point + inline_ Point& Set(const Point& src) { x = src.x; y = src.y; z = src.z; return *this; } + + //! Adds a vector + inline_ Point& Add(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; } + //! Adds a vector + inline_ Point& Add(float xx, float yy, float zz) { x += xx; y += yy; z += zz; return *this; } + //! Adds a vector + inline_ Point& Add(const float f[3]) { x += f[X]; y += f[Y]; z += f[Z]; return *this; } + //! Adds vectors + inline_ Point& Add(const Point& p, const Point& q) { x = p.x+q.x; y = p.y+q.y; z = p.z+q.z; return *this; } + + //! Subtracts a vector + inline_ Point& Sub(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } + //! Subtracts a vector + inline_ Point& Sub(float xx, float yy, float zz) { x -= xx; y -= yy; z -= zz; return *this; } + //! Subtracts a vector + inline_ Point& Sub(const float f[3]) { x -= f[X]; y -= f[Y]; z -= f[Z]; return *this; } + //! Subtracts vectors + inline_ Point& Sub(const Point& p, const Point& q) { x = p.x-q.x; y = p.y-q.y; z = p.z-q.z; return *this; } + + //! this = -this + inline_ Point& Neg() { x = -x; y = -y; z = -z; return *this; } + //! this = -a + inline_ Point& Neg(const Point& a) { x = -a.x; y = -a.y; z = -a.z; return *this; } + + //! Multiplies by a scalar + inline_ Point& Mult(float s) { x *= s; y *= s; z *= s; return *this; } + + //! this = a * scalar + inline_ Point& Mult(const Point& a, float scalar) + { + x = a.x * scalar; + y = a.y * scalar; + z = a.z * scalar; + return *this; + } + + //! this = a + b * scalar + inline_ Point& Mac(const Point& a, const Point& b, float scalar) + { + x = a.x + b.x * scalar; + y = a.y + b.y * scalar; + z = a.z + b.z * scalar; + return *this; + } + + //! this = this + a * scalar + inline_ Point& Mac(const Point& a, float scalar) + { + x += a.x * scalar; + y += a.y * scalar; + z += a.z * scalar; + return *this; + } + + //! this = a - b * scalar + inline_ Point& Msc(const Point& a, const Point& b, float scalar) + { + x = a.x - b.x * scalar; + y = a.y - b.y * scalar; + z = a.z - b.z * scalar; + return *this; + } + + //! this = this - a * scalar + inline_ Point& Msc(const Point& a, float scalar) + { + x -= a.x * scalar; + y -= a.y * scalar; + z -= a.z * scalar; + return *this; + } + + //! this = a + b * scalarb + c * scalarc + inline_ Point& Mac2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc) + { + x = a.x + b.x * scalarb + c.x * scalarc; + y = a.y + b.y * scalarb + c.y * scalarc; + z = a.z + b.z * scalarb + c.z * scalarc; + return *this; + } + + //! this = a - b * scalarb - c * scalarc + inline_ Point& Msc2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc) + { + x = a.x - b.x * scalarb - c.x * scalarc; + y = a.y - b.y * scalarb - c.y * scalarc; + z = a.z - b.z * scalarb - c.z * scalarc; + return *this; + } + + //! this = mat * a + inline_ Point& Mult(const Matrix3x3& mat, const Point& a); + + //! this = mat1 * a1 + mat2 * a2 + inline_ Point& Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2); + + //! this = this + mat * a + inline_ Point& Mac(const Matrix3x3& mat, const Point& a); + + //! this = transpose(mat) * a + inline_ Point& TransMult(const Matrix3x3& mat, const Point& a); + + //! Linear interpolate between two vectors: this = a + t * (b - a) + inline_ Point& Lerp(const Point& a, const Point& b, float t) + { + x = a.x + t * (b.x - a.x); + y = a.y + t * (b.y - a.y); + z = a.z + t * (b.z - a.z); + return *this; + } + + //! Hermite interpolate between p1 and p2. p0 and p3 are used for finding gradient at p1 and p2. + //! this = p0 * (2t^2 - t^3 - t)/2 + //! + p1 * (3t^3 - 5t^2 + 2)/2 + //! + p2 * (4t^2 - 3t^3 + t)/2 + //! + p3 * (t^3 - t^2)/2 + inline_ Point& Herp(const Point& p0, const Point& p1, const Point& p2, const Point& p3, float t) + { + float t2 = t * t; + float t3 = t2 * t; + float kp0 = (2.0f * t2 - t3 - t) * 0.5f; + float kp1 = (3.0f * t3 - 5.0f * t2 + 2.0f) * 0.5f; + float kp2 = (4.0f * t2 - 3.0f * t3 + t) * 0.5f; + float kp3 = (t3 - t2) * 0.5f; + x = p0.x * kp0 + p1.x * kp1 + p2.x * kp2 + p3.x * kp3; + y = p0.y * kp0 + p1.y * kp1 + p2.y * kp2 + p3.y * kp3; + z = p0.z * kp0 + p1.z * kp1 + p2.z * kp2 + p3.z * kp3; + return *this; + } + + //! this = rotpos * r + linpos + inline_ Point& Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos); + + //! this = trans(rotpos) * (r - linpos) + inline_ Point& InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos); + + //! Returns MIN(x, y, z); + inline_ float Min() const { return MIN(x, MIN(y, z)); } + //! Returns MAX(x, y, z); + inline_ float Max() const { return MAX(x, MAX(y, z)); } + //! Sets each element to be componentwise minimum + inline_ Point& Min(const Point& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); return *this; } + //! Sets each element to be componentwise maximum + inline_ Point& Max(const Point& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); return *this; } + + //! Clamps each element + inline_ Point& Clamp(float min, float max) + { + if(x<min) x=min; if(x>max) x=max; + if(y<min) y=min; if(y>max) y=max; + if(z<min) z=min; if(z>max) z=max; + return *this; + } + + //! Computes square magnitude + inline_ float SquareMagnitude() const { return x*x + y*y + z*z; } + //! Computes magnitude + inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z); } + //! Computes volume + inline_ float Volume() const { return x * y * z; } + + //! Checks the point is near zero + inline_ bool ApproxZero() const { return SquareMagnitude() < EPSILON2; } + + //! Tests for exact zero vector + inline_ BOOL IsZero() const + { + if(IR(x) || IR(y) || IR(z)) return FALSE; + return TRUE; + } + + //! Checks point validity + inline_ BOOL IsValid() const + { + if(!IsValidFloat(x)) return FALSE; + if(!IsValidFloat(y)) return FALSE; + if(!IsValidFloat(z)) return FALSE; + return TRUE; + } + + //! Slighty moves the point + void Tweak(udword coord_mask, udword tweak_mask) + { + if(coord_mask&1) { udword Dummy = IR(x); Dummy^=tweak_mask; x = FR(Dummy); } + if(coord_mask&2) { udword Dummy = IR(y); Dummy^=tweak_mask; y = FR(Dummy); } + if(coord_mask&4) { udword Dummy = IR(z); Dummy^=tweak_mask; z = FR(Dummy); } + } + + #define TWEAKMASK 0x3fffff + #define TWEAKNOTMASK ~TWEAKMASK + //! Slighty moves the point out + inline_ void TweakBigger() + { + udword Dummy = (IR(x)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); + Dummy = (IR(y)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); + Dummy = (IR(z)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); + } + + //! Slighty moves the point in + inline_ void TweakSmaller() + { + udword Dummy = (IR(x)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); + Dummy = (IR(y)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); + Dummy = (IR(z)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); + } + + //! Normalizes the vector + inline_ Point& Normalize() + { + float M = x*x + y*y + z*z; + if(M) + { + M = 1.0f / sqrtf(M); + x *= M; + y *= M; + z *= M; + } + return *this; + } + + //! Sets vector length + inline_ Point& SetLength(float length) + { + float NewLength = length / Magnitude(); + x *= NewLength; + y *= NewLength; + z *= NewLength; + return *this; + } + + //! Clamps vector length + inline_ Point& ClampLength(float limit_length) + { + if(limit_length>=0.0f) // Magnitude must be positive + { + float CurrentSquareLength = SquareMagnitude(); + + if(CurrentSquareLength > limit_length * limit_length) + { + float Coeff = limit_length / sqrtf(CurrentSquareLength); + x *= Coeff; + y *= Coeff; + z *= Coeff; + } + } + return *this; + } + + //! Computes distance to another point + inline_ float Distance(const Point& b) const + { + return sqrtf((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); + } + + //! Computes square distance to another point + inline_ float SquareDistance(const Point& b) const + { + return ((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); + } + + //! Dot product dp = this|a + inline_ float Dot(const Point& p) const { return p.x * x + p.y * y + p.z * z; } + + //! Cross product this = a x b + inline_ Point& Cross(const Point& a, const Point& b) + { + x = a.y * b.z - a.z * b.y; + y = a.z * b.x - a.x * b.z; + z = a.x * b.y - a.y * b.x; + return *this; + } + + //! Vector code ( bitmask = sign(z) | sign(y) | sign(x) ) + inline_ udword VectorCode() const + { + return (IR(x)>>31) | ((IR(y)&SIGN_BITMASK)>>30) | ((IR(z)&SIGN_BITMASK)>>29); + } + + //! Returns largest axis + inline_ PointComponent LargestAxis() const + { + const float* Vals = &x; + PointComponent m = X; + if(Vals[Y] > Vals[m]) m = Y; + if(Vals[Z] > Vals[m]) m = Z; + return m; + } + + //! Returns closest axis + inline_ PointComponent ClosestAxis() const + { + const float* Vals = &x; + PointComponent m = X; + if(AIR(Vals[Y]) > AIR(Vals[m])) m = Y; + if(AIR(Vals[Z]) > AIR(Vals[m])) m = Z; + return m; + } + + //! Returns smallest axis + inline_ PointComponent SmallestAxis() const + { + const float* Vals = &x; + PointComponent m = X; + if(Vals[Y] < Vals[m]) m = Y; + if(Vals[Z] < Vals[m]) m = Z; + return m; + } + + //! Refracts the point + Point& Refract(const Point& eye, const Point& n, float refractindex, Point& refracted); + + //! Projects the point onto a plane + Point& ProjectToPlane(const Plane& p); + + //! Projects the point onto the screen + void ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const; + + //! Unfolds the point onto a plane according to edge(a,b) + Point& Unfold(Plane& p, Point& a, Point& b); + + //! Hash function from Ville Miettinen + inline_ udword GetHashValue() const + { + const udword* h = (const udword*)(this); + udword f = (h[0]+h[1]*11-(h[2]*17)) & 0x7fffffff; // avoid problems with +-0 + return (f>>22)^(f>>12)^(f); + } + + //! Stuff magic values in the point, marking it as explicitely not used. + void SetNotUsed(); + //! Checks the point is marked as not used + BOOL IsNotUsed() const; + + // Arithmetic operators + + //! Unary operator for Point Negate = - Point + inline_ Point operator-() const { return Point(-x, -y, -z); } + + //! Operator for Point Plus = Point + Point. + inline_ Point operator+(const Point& p) const { return Point(x + p.x, y + p.y, z + p.z); } + //! Operator for Point Minus = Point - Point. + inline_ Point operator-(const Point& p) const { return Point(x - p.x, y - p.y, z - p.z); } + + //! Operator for Point Mul = Point * Point. + inline_ Point operator*(const Point& p) const { return Point(x * p.x, y * p.y, z * p.z); } + //! Operator for Point Scale = Point * float. + inline_ Point operator*(float s) const { return Point(x * s, y * s, z * s ); } + //! Operator for Point Scale = float * Point. + inline_ friend Point operator*(float s, const Point& p) { return Point(s * p.x, s * p.y, s * p.z); } + + //! Operator for Point Div = Point / Point. + inline_ Point operator/(const Point& p) const { return Point(x / p.x, y / p.y, z / p.z); } + //! Operator for Point Scale = Point / float. + inline_ Point operator/(float s) const { s = 1.0f / s; return Point(x * s, y * s, z * s); } + //! Operator for Point Scale = float / Point. + inline_ friend Point operator/(float s, const Point& p) { return Point(s / p.x, s / p.y, s / p.z); } + + //! Operator for float DotProd = Point | Point. + inline_ float operator|(const Point& p) const { return x*p.x + y*p.y + z*p.z; } + //! Operator for Point VecProd = Point ^ Point. + inline_ Point operator^(const Point& p) const + { + return Point( + y * p.z - z * p.y, + z * p.x - x * p.z, + x * p.y - y * p.x ); + } + + //! Operator for Point += Point. + inline_ Point& operator+=(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; } + //! Operator for Point += float. + inline_ Point& operator+=(float s) { x += s; y += s; z += s; return *this; } + + //! Operator for Point -= Point. + inline_ Point& operator-=(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } + //! Operator for Point -= float. + inline_ Point& operator-=(float s) { x -= s; y -= s; z -= s; return *this; } + + //! Operator for Point *= Point. + inline_ Point& operator*=(const Point& p) { x *= p.x; y *= p.y; z *= p.z; return *this; } + //! Operator for Point *= float. + inline_ Point& operator*=(float s) { x *= s; y *= s; z *= s; return *this; } + + //! Operator for Point /= Point. + inline_ Point& operator/=(const Point& p) { x /= p.x; y /= p.y; z /= p.z; return *this; } + //! Operator for Point /= float. + inline_ Point& operator/=(float s) { s = 1.0f/s; x *= s; y *= s; z *= s; return *this; } + + // Logical operators + + //! Operator for "if(Point==Point)" + inline_ bool operator==(const Point& p) const { return ( (IR(x)==IR(p.x))&&(IR(y)==IR(p.y))&&(IR(z)==IR(p.z))); } + //! Operator for "if(Point!=Point)" + inline_ bool operator!=(const Point& p) const { return ( (IR(x)!=IR(p.x))||(IR(y)!=IR(p.y))||(IR(z)!=IR(p.z))); } + + // Arithmetic operators + + //! Operator for Point Mul = Point * Matrix3x3. + inline_ Point operator*(const Matrix3x3& mat) const + { + class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining + const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; + + return Point( + x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0], + x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1], + x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] ); + } + + //! Operator for Point Mul = Point * Matrix4x4. + inline_ Point operator*(const Matrix4x4& mat) const + { + class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining + const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; + + return Point( + x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0], + x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1], + x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]); + } + + //! Operator for Point *= Matrix3x3. + inline_ Point& operator*=(const Matrix3x3& mat) + { + class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining + const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; + + float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0]; + float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1]; + float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2]; + + x = xp; y = yp; z = zp; + + return *this; + } + + //! Operator for Point *= Matrix4x4. + inline_ Point& operator*=(const Matrix4x4& mat) + { + class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining + const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; + + float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0]; + float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1]; + float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]; + + x = xp; y = yp; z = zp; + + return *this; + } + + // Cast operators + + //! Cast a Point to a HPoint. w is set to zero. + operator HPoint() const; + + inline_ operator const float*() const { return &x; } + inline_ operator float*() { return &x; } + + public: + float x, y, z; + }; + + FUNCTION ICEMATHS_API void Normalize1(Point& a); + FUNCTION ICEMATHS_API void Normalize2(Point& a); + +#endif //__ICEPOINT_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IcePreprocessor.h b/libs/ode-0.16.1/OPCODE/Ice/IcePreprocessor.h new file mode 100644 index 0000000..dbeca38 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IcePreprocessor.h @@ -0,0 +1,132 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains preprocessor stuff. This should be the first included header. + * \file IcePreprocessor.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEPREPROCESSOR_H__ +#define __ICEPREPROCESSOR_H__ + + // Check platform + #if defined( _WIN32 ) || defined( WIN32 ) + // #pragma message("Compiling on Windows...") + #define PLATFORM_WINDOWS + #else + // don't issue pragmas on unknown platforms + // #pragma message("Compiling on unknown platform...") + #endif + + // Check compiler + #if defined(_MSC_VER) + // #pragma message("Compiling with VC++...") + #define COMPILER_VISUAL_CPP + #else + // don't issue pragmas on unknown platforms + // #pragma message("Compiling with unknown compiler...") + #endif + + // Check compiler options. If this file is included in user-apps, this + // shouldn't be needed, so that they can use what they like best. + #ifndef ICE_DONT_CHECK_COMPILER_OPTIONS + #ifdef COMPILER_VISUAL_CPP + #if defined(_CHAR_UNSIGNED) + #endif + + #if defined(_CPPRTTI) + #error Please disable RTTI... + #endif + + #if defined(_CPPUNWIND) + #error Please disable exceptions... + #endif + + #if defined(_MT) + // Multithreading + #endif + #endif + #endif + + // Check debug mode + #ifdef DEBUG // May be defined instead of _DEBUG. Let's fix it. + #ifndef _DEBUG + #define _DEBUG + #endif + #endif + + #ifdef _DEBUG + // Here you may define items for debug builds + #endif + + #ifndef THIS_FILE + #define THIS_FILE __FILE__ + #endif + + #ifndef ICE_NO_DLL + #ifdef ICECORE_EXPORTS + #define ICECORE_API __declspec(dllexport) + #else + #define ICECORE_API __declspec(dllimport) + #endif + #else + #define ICECORE_API + #endif + + // Don't override new/delete +// #define DEFAULT_NEWDELETE + #define DONT_TRACK_MEMORY_LEAKS + + #define FUNCTION extern "C" + + // Cosmetic stuff [mainly useful with multiple inheritance] + #define override(base_class) virtual + + // Our own inline keyword, so that: + // - we can switch to __forceinline to check it's really better or not + // - we can remove __forceinline if the compiler doesn't support it +// #define inline_ __forceinline +// #define inline_ inline + + // Contributed by Bruce Mitchener + #if defined(COMPILER_VISUAL_CPP) + #define inline_ __forceinline +// #define inline_ inline + #elif defined(__GNUC__) && __GNUC__ < 3 + #define inline_ inline + #elif defined(__GNUC__) + #define inline_ inline __attribute__ ((always_inline)) + #else + #define inline_ inline + #endif + + // Down the hatch +#ifdef _MSC_VER + #pragma inline_depth( 255 ) +#endif + + #ifdef COMPILER_VISUAL_CPP + #pragma intrinsic(memcmp) + #pragma intrinsic(memcpy) + #pragma intrinsic(memset) + #pragma intrinsic(strcat) + #pragma intrinsic(strcmp) + #pragma intrinsic(strcpy) + #pragma intrinsic(strlen) + #pragma intrinsic(abs) + #pragma intrinsic(labs) + #endif + + // ANSI compliance + #ifdef _DEBUG + // Remove painful warning in debug + inline_ bool __False__(){ return false; } + #define for if(__False__()){} else for + #else + #define for if(0){} else for + #endif + +#endif // __ICEPREPROCESSOR_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceRandom.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceRandom.cpp new file mode 100644 index 0000000..cc63a04 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceRandom.cpp @@ -0,0 +1,35 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for random generators. + * \file IceRandom.cpp + * \author Pierre Terdiman + * \date August, 9, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceCore; + +void IceCore:: SRand(udword seed) +{ + srand(seed); +} + +udword IceCore::Rand() +{ + return rand(); +} + + +static BasicRandom gRandomGenerator(42); + +udword IceCore::GetRandomIndex(udword max_index) +{ + // We don't use rand() since it's limited to RAND_MAX + udword Index = gRandomGenerator.Randomize(); + return Index % max_index; +} + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceRandom.h b/libs/ode-0.16.1/OPCODE/Ice/IceRandom.h new file mode 100644 index 0000000..3170b33 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceRandom.h @@ -0,0 +1,42 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for random generators. + * \file IceRandom.h + * \author Pierre Terdiman + * \date August, 9, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICERANDOM_H__ +#define __ICERANDOM_H__ + + FUNCTION ICECORE_API void SRand(udword seed); + FUNCTION ICECORE_API udword Rand(); + + //! Returns a unit random floating-point value + inline_ float UnitRandomFloat() { return float(Rand()) * ONE_OVER_RAND_MAX; } + + //! Returns a random index so that 0<= index < max_index + ICECORE_API udword GetRandomIndex(udword max_index); + + class ICECORE_API BasicRandom + { + public: + + //! Constructor + inline_ BasicRandom(udword seed=0) : mRnd(seed) {} + //! Destructor + inline_ ~BasicRandom() {} + + inline_ void SetSeed(udword seed) { mRnd = seed; } + inline_ udword GetCurrentValue() const { return mRnd; } + inline_ udword Randomize() { mRnd = mRnd * 2147001325 + 715136305; return mRnd; } + + private: + udword mRnd; + }; + +#endif // __ICERANDOM_H__ + diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceRay.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceRay.cpp new file mode 100644 index 0000000..6cf0330 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceRay.cpp @@ -0,0 +1,84 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for rays. + * \file IceRay.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Ray class. + * A ray is a half-line P(t) = mOrig + mDir * t, with 0 <= t <= +infinity + * \class Ray + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/* + O = Origin = impact point + i = normalized vector along the x axis + j = normalized vector along the y axis = actually the normal vector in O + D = Direction vector, norm |D| = 1 + N = Projection of D on y axis, norm |N| = normal reaction + T = Projection of D on x axis, norm |T| = tangential reaction + R = Reflexion vector + + ^y + | + | + | + _ _ _| _ _ _ + * * *| + \ | / + \ |N / | + R\ | /D + \ | / | + \ | / + _________\|/______*_______>x + O T + + Let define theta = angle between D and N. Then cos(theta) = |N| / |D| = |N| since D is normalized. + + j|D = |j|*|D|*cos(theta) => |N| = j|D + + Then we simply have: + + D = N + T + + To compute tangential reaction : + + T = D - N + + To compute reflexion vector : + + R = N - T = N - (D-N) = 2*N - D +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +float Ray::SquareDistance(const Point& point, float* t) const +{ + Point Diff = point - mOrig; + float fT = Diff | mDir; + + if(fT<=0.0f) + { + fT = 0.0f; + } + else + { + fT /= mDir.SquareMagnitude(); + Diff -= fT*mDir; + } + + if(t) *t = fT; + + return Diff.SquareMagnitude(); +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceRay.h b/libs/ode-0.16.1/OPCODE/Ice/IceRay.h new file mode 100644 index 0000000..0268287 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceRay.h @@ -0,0 +1,98 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for rays. + * \file IceRay.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICERAY_H__ +#define __ICERAY_H__ + + class ICEMATHS_API Ray + { + public: + //! Constructor + inline_ Ray() {} + //! Constructor + inline_ Ray(const Point& orig, const Point& dir) : mOrig(orig), mDir(dir) {} + //! Copy constructor + inline_ Ray(const Ray& ray) : mOrig(ray.mOrig), mDir(ray.mDir) {} + //! Destructor + inline_ ~Ray() {} + + float SquareDistance(const Point& point, float* t=null) const; + inline_ float Distance(const Point& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); } + + Point mOrig; //!< Ray origin + Point mDir; //!< Normalized direction + }; + + inline_ void ComputeReflexionVector(Point& reflected, const Point& incoming_dir, const Point& outward_normal) + { + reflected = incoming_dir - outward_normal * 2.0f * (incoming_dir|outward_normal); + } + + inline_ void ComputeReflexionVector(Point& reflected, const Point& source, const Point& impact, const Point& normal) + { + Point V = impact - source; + reflected = V - normal * 2.0f * (V|normal); + } + + inline_ void DecomposeVector(Point& normal_compo, Point& tangent_compo, const Point& outward_dir, const Point& outward_normal) + { + normal_compo = outward_normal * (outward_dir|outward_normal); + tangent_compo = outward_dir - normal_compo; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a direction vector from world space to local space + * \param local_dir [out] direction vector in local space + * \param world_dir [in] direction vector in world space + * \param world [in] world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputeLocalDirection(Point& local_dir, const Point& world_dir, const Matrix4x4& world) + { + // Get world direction back in local space +// Matrix3x3 InvWorld = world; +// local_dir = InvWorld * world_dir; + local_dir = Matrix3x3(world) * world_dir; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a position vector from world space to local space + * \param local_pt [out] position vector in local space + * \param world_pt [in] position vector in world space + * \param world [in] world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputeLocalPoint(Point& local_pt, const Point& world_pt, const Matrix4x4& world) + { + // Get world vertex back in local space + Matrix4x4 InvWorld = world; + InvWorld.Invert(); + local_pt = world_pt * InvWorld; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Transforms a ray from world space to local space + * \param local_ray [out] ray in local space + * \param world_ray [in] ray in world space + * \param world [in] world transform + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputeLocalRay(Ray& local_ray, const Ray& world_ray, const Matrix4x4& world) + { + // Get world ray back in local space + ComputeLocalDirection(local_ray.mDir, world_ray.mDir, world); + ComputeLocalPoint(local_ray.mOrig, world_ray.mOrig, world); + } + +#endif // __ICERAY_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceRevisitedRadix.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceRevisitedRadix.cpp new file mode 100644 index 0000000..99a586f --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceRevisitedRadix.cpp @@ -0,0 +1,520 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains source code from the article "Radix Sort Revisited". + * \file IceRevisitedRadix.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Revisited Radix Sort. + * This is my new radix routine: + * - it uses indices and doesn't recopy the values anymore, hence wasting less ram + * - it creates all the histograms in one run instead of four + * - it sorts words faster than dwords and bytes faster than words + * - it correctly sorts negative floating-point values by patching the offsets + * - it automatically takes advantage of temporal coherence + * - multiple keys support is a side effect of temporal coherence + * - it may be worth recoding in asm... (mainly to use FCOMI, FCMOV, etc) [it's probably memory-bound anyway] + * + * History: + * - 08.15.98: very first version + * - 04.04.00: recoded for the radix article + * - 12.xx.00: code lifting + * - 09.18.01: faster CHECK_PASS_VALIDITY thanks to Mark D. Shattuck (who provided other tips, not included here) + * - 10.11.01: added local ram support + * - 01.20.02: bugfix! In very particular cases the last pass was skipped in the float code-path, leading to incorrect sorting...... + * - 01.02.02: - "mIndices" renamed => "mRanks". That's a rank sorter after all. + * - ranks are not "reset" anymore, but implicit on first calls + * - 07.05.02: - offsets rewritten with one less indirection. + * - 11.03.02: - "bool" replaced with RadixHint enum + * + * \class RadixSort + * \author Pierre Terdiman + * \version 1.4 + * \date August, 15, 1998 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/* +To do: + - add an offset parameter between two input values (avoid some data recopy sometimes) + - unroll ? asm ? + - 11 bits trick & 3 passes as Michael did + - prefetch stuff the day I have a P3 + - make a version with 16-bits indices ? +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceCore; + +#define INVALIDATE_RANKS mCurrentSize|=0x80000000 +#define VALIDATE_RANKS mCurrentSize&=0x7fffffff +#define CURRENT_SIZE (mCurrentSize&0x7fffffff) +#define INVALID_RANKS (mCurrentSize&0x80000000) + +#define CHECK_RESIZE(n) \ + if(n!=mPreviousSize) \ + { \ + if(n>mCurrentSize) Resize(n); \ + else ResetRanks(); \ + mPreviousSize = n; \ + } + +#define CREATE_HISTOGRAMS(type, buffer) \ + /* Clear counters/histograms */ \ + ZeroMemory(mHistogram, 256*4*sizeof(udword)); \ + \ + /* Prepare to count */ \ + ubyte* p = (ubyte*)input; \ + ubyte* pe = &p[nb*4]; \ + udword* h0= &mHistogram[0]; /* Histogram for first pass (LSB) */ \ + udword* h1= &mHistogram[256]; /* Histogram for second pass */ \ + udword* h2= &mHistogram[512]; /* Histogram for third pass */ \ + udword* h3= &mHistogram[768]; /* Histogram for last pass (MSB) */ \ + \ + bool AlreadySorted = true; /* Optimism... */ \ + \ + if(INVALID_RANKS) \ + { \ + /* Prepare for temporal coherence */ \ + type* Running = (type*)buffer; \ + type PrevVal = *Running; \ + \ + while(p!=pe) \ + { \ + /* Read input buffer in previous sorted order */ \ + type Val = *Running++; \ + /* Check whether already sorted or not */ \ + if(Val<PrevVal) { AlreadySorted = false; break; } /* Early out */ \ + /* Update for next iteration */ \ + PrevVal = Val; \ + \ + /* Create histograms */ \ + h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \ + } \ + \ + /* If all input values are already sorted, we just have to return and leave the */ \ + /* previous list unchanged. That way the routine may take advantage of temporal */ \ + /* coherence, for example when used to sort transparent faces. */ \ + if(AlreadySorted) \ + { \ + mNbHits++; \ + for(udword i=0;i<nb;i++) mRanks[i] = i; \ + return *this; \ + } \ + } \ + else \ + { \ + /* Prepare for temporal coherence */ \ + udword* Indices = mRanks; \ + type PrevVal = (type)buffer[*Indices]; \ + \ + while(p!=pe) \ + { \ + /* Read input buffer in previous sorted order */ \ + type Val = (type)buffer[*Indices++]; \ + /* Check whether already sorted or not */ \ + if(Val<PrevVal) { AlreadySorted = false; break; } /* Early out */ \ + /* Update for next iteration */ \ + PrevVal = Val; \ + \ + /* Create histograms */ \ + h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \ + } \ + \ + /* If all input values are already sorted, we just have to return and leave the */ \ + /* previous list unchanged. That way the routine may take advantage of temporal */ \ + /* coherence, for example when used to sort transparent faces. */ \ + if(AlreadySorted) { mNbHits++; return *this; } \ + } \ + \ + /* Else there has been an early out and we must finish computing the histograms */ \ + while(p!=pe) \ + { \ + /* Create histograms without the previous overhead */ \ + h0[*p++]++; h1[*p++]++; h2[*p++]++; h3[*p++]++; \ + } + +#define CHECK_PASS_VALIDITY(pass) \ + /* Shortcut to current counters */ \ + udword* CurCount = &mHistogram[pass<<8]; \ + \ + /* Reset flag. The sorting pass is supposed to be performed. (default) */ \ + bool PerformPass = true; \ + \ + /* Check pass validity */ \ + \ + /* If all values have the same byte, sorting is useless. */ \ + /* It may happen when sorting bytes or words instead of dwords. */ \ + /* This routine actually sorts words faster than dwords, and bytes */ \ + /* faster than words. Standard running time (O(4*n))is reduced to O(2*n) */ \ + /* for words and O(n) for bytes. Running time for floats depends on actual values... */ \ + \ + /* Get first byte */ \ + ubyte UniqueVal = *(((ubyte*)input)+pass); \ + \ + /* Check that byte's counter */ \ + if(CurCount[UniqueVal]==nb) PerformPass=false; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort::RadixSort() : mCurrentSize(0), mRanks(null), mRanks2(null), mTotalCalls(0), mNbHits(0) +{ +#ifndef RADIX_LOCAL_RAM + // Allocate input-independent ram + mHistogram = new udword[256*4]; + mOffset = new udword[256]; +#endif + // Initialize indices + INVALIDATE_RANKS; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort::~RadixSort() +{ + // Release everything +#ifndef RADIX_LOCAL_RAM + DELETEARRAY(mOffset); + DELETEARRAY(mHistogram); +#endif + DELETEARRAY(mRanks2); + DELETEARRAY(mRanks); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Resizes the inner lists. + * \param nb [in] new size (number of dwords) + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RadixSort::Resize(udword nb) +{ + // Free previously used ram + DELETEARRAY(mRanks2); + DELETEARRAY(mRanks); + + // Get some fresh one + mRanks = new udword[nb]; CHECKALLOC(mRanks); + mRanks2 = new udword[nb]; CHECKALLOC(mRanks2); + + return true; +} + +inline_ void RadixSort::CheckResize(udword nb) +{ + udword CurSize = CURRENT_SIZE; + if(nb!=CurSize) + { + if(nb>CurSize) Resize(nb); + mCurrentSize = nb; + INVALIDATE_RANKS; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main sort routine. + * This one is for integer values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data. + * \param input [in] a list of integer values to sort + * \param nb [in] number of values to sort, must be < 2^31 + * \param hint [in] RADIX_SIGNED to handle negative values, RADIX_UNSIGNED if you know your input buffer only contains positive values + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort& RadixSort::Sort(const udword* input, udword nb, RadixHint hint) +{ + // Checkings + if(!input || !nb || nb&0x80000000) return *this; + + // Stats + mTotalCalls++; + + // Resize lists if needed + CheckResize(nb); + +#ifdef RADIX_LOCAL_RAM + // Allocate histograms & offsets on the stack + udword mHistogram[256*4]; +// udword mOffset[256]; + udword* mLink[256]; +#endif + + // Create histograms (counters). Counters for all passes are created in one run. + // Pros: read input buffer once instead of four times + // Cons: mHistogram is 4Kb instead of 1Kb + // We must take care of signed/unsigned values for temporal coherence.... I just + // have 2 code paths even if just a single opcode changes. Self-modifying code, someone? + if(hint==RADIX_UNSIGNED) { CREATE_HISTOGRAMS(udword, input); } + else { CREATE_HISTOGRAMS(sdword, input); } + + // Compute #negative values involved if needed + udword NbNegativeValues = 0; + if(hint==RADIX_SIGNED) + { + // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128 + // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte, + // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers. + udword* h3= &mHistogram[768]; + for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part + } + + // Radix sort, j is the pass number (0=LSB, 3=MSB) + for(udword j=0;j<4;j++) + { + CHECK_PASS_VALIDITY(j); + + // Sometimes the fourth (negative) pass is skipped because all numbers are negative and the MSB is 0xFF (for example). This is + // not a problem, numbers are correctly sorted anyway. + if(PerformPass) + { + // Should we care about negative values? + if(j!=3 || hint==RADIX_UNSIGNED) + { + // Here we deal with positive values only + + // Create offsets +// mOffset[0] = 0; +// for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; + mLink[0] = mRanks2; + for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; + } + else + { + // This is a special case to correctly handle negative integers. They're sorted in the right order but at the wrong place. + + // Create biased offsets, in order for negative numbers to be sorted as well +// mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones + mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones +// for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + + // Fixing the wrong place for negative values +// mOffset[128] = 0; + mLink[128] = mRanks2; +// for(i=129;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; + for(udword i=129;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; + } + + // Perform Radix Sort + ubyte* InputBytes = (ubyte*)input; + InputBytes += j; + if(INVALID_RANKS) + { +// for(udword i=0;i<nb;i++) mRanks2[mOffset[InputBytes[i<<2]]++] = i; + for(udword i=0;i<nb;i++) *mLink[InputBytes[i<<2]]++ = i; + VALIDATE_RANKS; + } + else + { + udword* Indices = mRanks; + udword* IndicesEnd = &mRanks[nb]; + while(Indices!=IndicesEnd) + { + udword id = *Indices++; +// mRanks2[mOffset[InputBytes[id<<2]]++] = id; + *mLink[InputBytes[id<<2]]++ = id; + } + } + + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main sort routine. + * This one is for floating-point values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data. + * \param input [in] a list of floating-point values to sort + * \param nb [in] number of values to sort, must be < 2^31 + * \return Self-Reference + * \warning only sorts IEEE floating-point values + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RadixSort& RadixSort::Sort(const float* input2, udword nb) +{ + // Checkings + if(!input2 || !nb || nb&0x80000000) return *this; + + // Stats + mTotalCalls++; + + udword* input = (udword*)input2; + + // Resize lists if needed + CheckResize(nb); + +#ifdef RADIX_LOCAL_RAM + // Allocate histograms & offsets on the stack + udword mHistogram[256*4]; +// udword mOffset[256]; + udword* mLink[256]; +#endif + + // Create histograms (counters). Counters for all passes are created in one run. + // Pros: read input buffer once instead of four times + // Cons: mHistogram is 4Kb instead of 1Kb + // Floating-point values are always supposed to be signed values, so there's only one code path there. + // Please note the floating point comparison needed for temporal coherence! Although the resulting asm code + // is dreadful, this is surprisingly not such a performance hit - well, I suppose that's a big one on first + // generation Pentiums....We can't make comparison on integer representations because, as Chris said, it just + // wouldn't work with mixed positive/negative values.... + { CREATE_HISTOGRAMS(float, input2); } + + // Compute #negative values involved if needed + udword NbNegativeValues = 0; + // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128 + // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte, + // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers. + udword* h3= &mHistogram[768]; + for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part + + // Radix sort, j is the pass number (0=LSB, 3=MSB) + for(udword j=0;j<4;j++) + { + // Should we care about negative values? + if(j!=3) + { + // Here we deal with positive values only + CHECK_PASS_VALIDITY(j); + + if(PerformPass) + { + // Create offsets +// mOffset[0] = 0; + mLink[0] = mRanks2; +// for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; + for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; + + // Perform Radix Sort + ubyte* InputBytes = (ubyte*)input; + InputBytes += j; + if(INVALID_RANKS) + { +// for(i=0;i<nb;i++) mRanks2[mOffset[InputBytes[i<<2]]++] = i; + for(udword i=0;i<nb;i++) *mLink[InputBytes[i<<2]]++ = i; + VALIDATE_RANKS; + } + else + { + udword* Indices = mRanks; + udword* IndicesEnd = &mRanks[nb]; + while(Indices!=IndicesEnd) + { + udword id = *Indices++; +// mRanks2[mOffset[InputBytes[id<<2]]++] = id; + *mLink[InputBytes[id<<2]]++ = id; + } + } + + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + } + else + { + // This is a special case to correctly handle negative values + CHECK_PASS_VALIDITY(j); + + if(PerformPass) + { + // Create biased offsets, in order for negative numbers to be sorted as well +// mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones + mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones +// for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers + + // We must reverse the sorting order for negative numbers! +// mOffset[255] = 0; + mLink[255] = mRanks2; +// for(i=0;i<127;i++) mOffset[254-i] = mOffset[255-i] + CurCount[255-i]; // Fixing the wrong order for negative values + for(udword i=0;i<127;i++) mLink[254-i] = mLink[255-i] + CurCount[255-i]; // Fixing the wrong order for negative values +// for(i=128;i<256;i++) mOffset[i] += CurCount[i]; // Fixing the wrong place for negative values + for(udword i=128;i<256;i++) mLink[i] += CurCount[i]; // Fixing the wrong place for negative values + + // Perform Radix Sort + if(INVALID_RANKS) + { + for(udword i=0;i<nb;i++) + { + udword Radix = input[i]>>24; // Radix byte, same as above. AND is useless here (udword). + // ### cmp to be killed. Not good. Later. +// if(Radix<128) mRanks2[mOffset[Radix]++] = i; // Number is positive, same as above +// else mRanks2[--mOffset[Radix]] = i; // Number is negative, flip the sorting order + if(Radix<128) *mLink[Radix]++ = i; // Number is positive, same as above + else *(--mLink[Radix]) = i; // Number is negative, flip the sorting order + } + VALIDATE_RANKS; + } + else + { + for(udword i=0;i<nb;i++) + { + udword Radix = input[mRanks[i]]>>24; // Radix byte, same as above. AND is useless here (udword). + // ### cmp to be killed. Not good. Later. +// if(Radix<128) mRanks2[mOffset[Radix]++] = mRanks[i]; // Number is positive, same as above +// else mRanks2[--mOffset[Radix]] = mRanks[i]; // Number is negative, flip the sorting order + if(Radix<128) *mLink[Radix]++ = mRanks[i]; // Number is positive, same as above + else *(--mLink[Radix]) = mRanks[i]; // Number is negative, flip the sorting order + } + } + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + else + { + // The pass is useless, yet we still have to reverse the order of current list if all values are negative. + if(UniqueVal>=128) + { + if(INVALID_RANKS) + { + // ###Possible? + for(udword i=0;i<nb;i++) mRanks2[i] = nb-i-1; + VALIDATE_RANKS; + } + else + { + for(udword i=0;i<nb;i++) mRanks2[i] = mRanks[nb-i-1]; + } + + // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. + udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; + } + } + } + } + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the ram used. + * \return memory used in bytes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword RadixSort::GetUsedRam() const +{ + udword UsedRam = sizeof(RadixSort); +#ifndef RADIX_LOCAL_RAM + UsedRam += 256*4*sizeof(udword); // Histograms + UsedRam += 256*sizeof(udword); // Offsets +#endif + UsedRam += 2*CURRENT_SIZE*sizeof(udword); // 2 lists of indices + return UsedRam; +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceRevisitedRadix.h b/libs/ode-0.16.1/OPCODE/Ice/IceRevisitedRadix.h new file mode 100644 index 0000000..3bdfc22 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceRevisitedRadix.h @@ -0,0 +1,65 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains source code from the article "Radix Sort Revisited". + * \file IceRevisitedRadix.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICERADIXSORT_H__ +#define __ICERADIXSORT_H__ + + //! Allocate histograms & offsets locally + #define RADIX_LOCAL_RAM + + enum RadixHint + { + RADIX_SIGNED, //!< Input values are signed + RADIX_UNSIGNED, //!< Input values are unsigned + + RADIX_FORCE_DWORD = 0x7fffffff + }; + + class ICECORE_API RadixSort + { + public: + // Constructor/Destructor + RadixSort(); + ~RadixSort(); + // Sorting methods + RadixSort& Sort(const udword* input, udword nb, RadixHint hint=RADIX_SIGNED); + RadixSort& Sort(const float* input, udword nb); + + //! Access to results. mRanks is a list of indices in sorted order, i.e. in the order you may further process your data + inline_ const udword* GetRanks() const { return mRanks; } + + //! mIndices2 gets trashed on calling the sort routine, but otherwise you can recycle it the way you want. + inline_ udword* GetRecyclable() const { return mRanks2; } + + // Stats + udword GetUsedRam() const; + //! Returns the total number of calls to the radix sorter. + inline_ udword GetNbTotalCalls() const { return mTotalCalls; } + //! Returns the number of eraly exits due to temporal coherence. + inline_ udword GetNbHits() const { return mNbHits; } + + private: +#ifndef RADIX_LOCAL_RAM + udword* mHistogram; //!< Counters for each byte + udword* mOffset; //!< Offsets (nearly a cumulative distribution function) +#endif + udword mCurrentSize; //!< Current size of the indices list + udword* mRanks; //!< Two lists, swapped each pass + udword* mRanks2; + // Stats + udword mTotalCalls; //!< Total number of calls to the sort routine + udword mNbHits; //!< Number of early exits due to coherence + // Internal methods + void CheckResize(udword nb); + bool Resize(udword nb); + }; + +#endif // __ICERADIXSORT_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceSegment.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceSegment.cpp new file mode 100644 index 0000000..cd9ceb7 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceSegment.cpp @@ -0,0 +1,57 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for segments. + * \file IceSegment.cpp + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Segment class. + * A segment is defined by S(t) = mP0 * (1 - t) + mP1 * t, with 0 <= t <= 1 + * Alternatively, a segment is S(t) = Origin + t * Direction for 0 <= t <= 1. + * Direction is not necessarily unit length. The end points are Origin = mP0 and Origin + Direction = mP1. + * + * \class Segment + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +float Segment::SquareDistance(const Point& point, float* t) const +{ + Point Diff = point - mP0; + Point Dir = mP1 - mP0; + float fT = Diff | Dir; + + if(fT<=0.0f) + { + fT = 0.0f; + } + else + { + float SqrLen= Dir.SquareMagnitude(); + if(fT>=SqrLen) + { + fT = 1.0f; + Diff -= Dir; + } + else + { + fT /= SqrLen; + Diff -= fT*Dir; + } + } + + if(t) *t = fT; + + return Diff.SquareMagnitude(); +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceSegment.h b/libs/ode-0.16.1/OPCODE/Ice/IceSegment.h new file mode 100644 index 0000000..8d66322 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceSegment.h @@ -0,0 +1,55 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for segments. + * \file IceSegment.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICESEGMENT_H__ +#define __ICESEGMENT_H__ + + class ICEMATHS_API Segment + { + public: + //! Constructor + inline_ Segment() {} + //! Constructor + inline_ Segment(const Point& p0, const Point& p1) : mP0(p0), mP1(p1) {} + //! Copy constructor + inline_ Segment(const Segment& seg) : mP0(seg.mP0), mP1(seg.mP1) {} + //! Destructor + inline_ ~Segment() {} + + inline_ const Point& GetOrigin() const { return mP0; } + inline_ Point ComputeDirection() const { return mP1 - mP0; } + inline_ void ComputeDirection(Point& dir) const { dir = mP1 - mP0; } + inline_ float ComputeLength() const { return mP1.Distance(mP0); } + inline_ float ComputeSquareLength() const { return mP1.SquareDistance(mP0); } + + inline_ void SetOriginDirection(const Point& origin, const Point& direction) + { + mP0 = mP1 = origin; + mP1 += direction; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes a point on the segment + * \param pt [out] point on segment + * \param t [in] point's parameter [t=0 => pt = mP0, t=1 => pt = mP1] + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void ComputePoint(Point& pt, float t) const { pt = mP0 + t * (mP1 - mP0); } + + float SquareDistance(const Point& point, float* t=null) const; + inline_ float Distance(const Point& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); } + + Point mP0; //!< Start of segment + Point mP1; //!< End of segment + }; + +#endif // __ICESEGMENT_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceTriList.h b/libs/ode-0.16.1/OPCODE/Ice/IceTriList.h new file mode 100644 index 0000000..73f5257 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceTriList.h @@ -0,0 +1,61 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a triangle container. + * \file IceTrilist.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICETRILIST_H__ +#define __ICETRILIST_H__ + + class ICEMATHS_API TriList : public Container + { + public: + // Constructor / Destructor + TriList() {} + ~TriList() {} + + inline_ udword GetNbTriangles() const { return GetNbEntries()/9; } + inline_ Triangle* GetTriangles() const { return (Triangle*)GetEntries(); } + + void AddTri(const Triangle& tri) + { + Add(tri.mVerts[0].x).Add(tri.mVerts[0].y).Add(tri.mVerts[0].z); + Add(tri.mVerts[1].x).Add(tri.mVerts[1].y).Add(tri.mVerts[1].z); + Add(tri.mVerts[2].x).Add(tri.mVerts[2].y).Add(tri.mVerts[2].z); + } + + void AddTri(const Point& p0, const Point& p1, const Point& p2) + { + Add(p0.x).Add(p0.y).Add(p0.z); + Add(p1.x).Add(p1.y).Add(p1.z); + Add(p2.x).Add(p2.y).Add(p2.z); + } + }; + + class ICEMATHS_API TriangleList : public Container + { + public: + // Constructor / Destructor + TriangleList() {} + ~TriangleList() {} + + inline_ udword GetNbTriangles() const { return GetNbEntries()/3; } + inline_ IndexedTriangle* GetTriangles() const { return (IndexedTriangle*)GetEntries();} + + void AddTriangle(const IndexedTriangle& tri) + { + Add((udword)tri.mVRef[0]).Add((udword)tri.mVRef[1]).Add((udword)tri.mVRef[2]); + } + + void AddTriangle(udword vref0, udword vref1, udword vref2) + { + Add(vref0).Add(vref1).Add(vref2); + } + }; + +#endif //__ICETRILIST_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceTriangle.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceTriangle.cpp new file mode 100644 index 0000000..4268ff4 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceTriangle.cpp @@ -0,0 +1,286 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy triangle class. + * \file IceTriangle.cpp + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a triangle class. + * + * \class Tri + * \author Pierre Terdiman + * \version 1.0 + * \date 08.15.98 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +static sdword VPlaneSideEps(const Point& v, const Plane& plane, float epsilon) +{ + // Compute distance from current vertex to the plane + float Dist = plane.Distance(v); + // Compute side: + // 1 = the vertex is on the positive side of the plane + // -1 = the vertex is on the negative side of the plane + // 0 = the vertex is on the plane (within epsilon) + return Dist > epsilon ? 1 : Dist < -epsilon ? -1 : 0; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Flips the winding order. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::Flip() +{ + Point Tmp = mVerts[1]; + mVerts[1] = mVerts[2]; + mVerts[2] = Tmp; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle area. + * \return the area + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::Area() const +{ + const Point& p0 = mVerts[0]; + const Point& p1 = mVerts[1]; + const Point& p2 = mVerts[2]; + return ((p0 - p1)^(p0 - p2)).Magnitude() * 0.5f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle perimeter. + * \return the perimeter + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::Perimeter() const +{ + const Point& p0 = mVerts[0]; + const Point& p1 = mVerts[1]; + const Point& p2 = mVerts[2]; + return p0.Distance(p1) + + p0.Distance(p2) + + p1.Distance(p2); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle compacity. + * \return the compacity + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::Compacity() const +{ + float P = Perimeter(); + if(P==0.0f) return 0.0f; + return (4.0f*PI*Area()/(P*P)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle normal. + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::Normal(Point& normal) const +{ + const Point& p0 = mVerts[0]; + const Point& p1 = mVerts[1]; + const Point& p2 = mVerts[2]; + normal = ((p0 - p1)^(p0 - p2)).Normalize(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle denormalized normal. + * \param normal [out] the computed normal + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::DenormalizedNormal(Point& normal) const +{ + const Point& p0 = mVerts[0]; + const Point& p1 = mVerts[1]; + const Point& p2 = mVerts[2]; + normal = ((p0 - p1)^(p0 - p2)); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle center. + * \param center [out] the computed center + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::Center(Point& center) const +{ + const Point& p0 = mVerts[0]; + const Point& p1 = mVerts[1]; + const Point& p2 = mVerts[2]; + center = (p0 + p1 + p2)*INV3; +} + +PartVal Triangle::TestAgainstPlane(const Plane& plane, float epsilon) const +{ + bool Pos = false, Neg = false; + + // Loop through all vertices + for(udword i=0;i<3;i++) + { + // Compute side: + sdword Side = VPlaneSideEps(mVerts[i], plane, epsilon); + + if (Side < 0) Neg = true; + else if (Side > 0) Pos = true; + } + + if (!Pos && !Neg) return TRI_ON_PLANE; + else if (Pos && Neg) return TRI_INTERSECT; + else if (Pos && !Neg) return TRI_PLUS_SPACE; + else if (!Pos && Neg) return TRI_MINUS_SPACE; + + // What?! + return TRI_FORCEDWORD; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle moment. + * \param m [out] the moment + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* +void Triangle::ComputeMoment(Moment& m) +{ + // Compute the area of the triangle + m.mArea = Area(); + + // Compute the centroid + Center(m.mCentroid); + + // Second-order components. Handle zero-area faces. + Point& p = mVerts[0]; + Point& q = mVerts[1]; + Point& r = mVerts[2]; + if(m.mArea==0.0f) + { + // This triangle has zero area. The second order components would be eliminated with the usual formula, so, for the + // sake of robustness we use an alternative form. These are the centroid and second-order components of the triangle's vertices. + m.mCovariance.m[0][0] = (p.x*p.x + q.x*q.x + r.x*r.x); + m.mCovariance.m[0][1] = (p.x*p.y + q.x*q.y + r.x*r.y); + m.mCovariance.m[0][2] = (p.x*p.z + q.x*q.z + r.x*r.z); + m.mCovariance.m[1][1] = (p.y*p.y + q.y*q.y + r.y*r.y); + m.mCovariance.m[1][2] = (p.y*p.z + q.y*q.z + r.y*r.z); + m.mCovariance.m[2][2] = (p.z*p.z + q.z*q.z + r.z*r.z); + m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; + m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; + m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; + } + else + { + const float OneOverTwelve = 1.0f / 12.0f; + m.mCovariance.m[0][0] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.x + p.x*p.x + q.x*q.x + r.x*r.x) * OneOverTwelve; + m.mCovariance.m[0][1] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.y + p.x*p.y + q.x*q.y + r.x*r.y) * OneOverTwelve; + m.mCovariance.m[1][1] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.y + p.y*p.y + q.y*q.y + r.y*r.y) * OneOverTwelve; + m.mCovariance.m[0][2] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.z + p.x*p.z + q.x*q.z + r.x*r.z) * OneOverTwelve; + m.mCovariance.m[1][2] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.z + p.y*p.z + q.y*q.z + r.y*r.z) * OneOverTwelve; + m.mCovariance.m[2][2] = m.mArea * (9.0f * m.mCentroid.z*m.mCentroid.z + p.z*p.z + q.z*q.z + r.z*r.z) * OneOverTwelve; + m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; + m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; + m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; + } +} +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's smallest edge length. + * \return the smallest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::MinEdgeLength() const +{ + float Min = MAX_FLOAT; + float Length01 = mVerts[0].Distance(mVerts[1]); + float Length02 = mVerts[0].Distance(mVerts[2]); + float Length12 = mVerts[1].Distance(mVerts[2]); + if(Length01 < Min) Min = Length01; + if(Length02 < Min) Min = Length02; + if(Length12 < Min) Min = Length12; + return Min; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the triangle's largest edge length. + * \return the largest edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float Triangle::MaxEdgeLength() const +{ + float Max = MIN_FLOAT; + float Length01 = mVerts[0].Distance(mVerts[1]); + float Length02 = mVerts[0].Distance(mVerts[2]); + float Length12 = mVerts[1].Distance(mVerts[2]); + if(Length01 > Max) Max = Length01; + if(Length02 > Max) Max = Length02; + if(Length12 > Max) Max = Length12; + return Max; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a point on the triangle according to the stabbing information. + * \param u,v [in] point's barycentric coordinates + * \param pt [out] point on triangle + * \param nearvtx [out] index of nearest vertex + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Triangle::ComputePoint(float u, float v, Point& pt, udword* nearvtx) const +{ + // Compute point coordinates + pt = (1.0f - u - v)*mVerts[0] + u*mVerts[1] + v*mVerts[2]; + + // Compute nearest vertex if needed + if(nearvtx) + { + // Compute distance vector + Point d(mVerts[0].SquareDistance(pt), // Distance^2 from vertex 0 to point on the face + mVerts[1].SquareDistance(pt), // Distance^2 from vertex 1 to point on the face + mVerts[2].SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face + + // Get smallest distance + *nearvtx = d.SmallestAxis(); + } +} + +void Triangle::Inflate(float fat_coeff, bool constant_border) +{ + // Compute triangle center + Point TriangleCenter; + Center(TriangleCenter); + + // Don't normalize? + // Normalize => add a constant border, regardless of triangle size + // Don't => add more to big triangles + for(udword i=0;i<3;i++) + { + Point v = mVerts[i] - TriangleCenter; + + if(constant_border) v.Normalize(); + + mVerts[i] += v * fat_coeff; + } +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceTriangle.h b/libs/ode-0.16.1/OPCODE/Ice/IceTriangle.h new file mode 100644 index 0000000..a984db8 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceTriangle.h @@ -0,0 +1,68 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a handy triangle class. + * \file IceTriangle.h + * \author Pierre Terdiman + * \date January, 17, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICETRIANGLE_H__ +#define __ICETRIANGLE_H__ + + // Forward declarations + class Moment; + + // Partitioning values + enum PartVal + { + TRI_MINUS_SPACE = 0, //!< Triangle is in the negative space + TRI_PLUS_SPACE = 1, //!< Triangle is in the positive space + TRI_INTERSECT = 2, //!< Triangle intersects plane + TRI_ON_PLANE = 3, //!< Triangle and plane are coplanar + + TRI_FORCEDWORD = 0x7fffffff + }; + + // A triangle class. + class ICEMATHS_API Triangle + { + public: + //! Constructor + inline_ Triangle() {} + //! Constructor + inline_ Triangle(const Point& p0, const Point& p1, const Point& p2) { mVerts[0]=p0; mVerts[1]=p1; mVerts[2]=p2; } + //! Copy constructor + inline_ Triangle(const Triangle& triangle) + { + mVerts[0] = triangle.mVerts[0]; + mVerts[1] = triangle.mVerts[1]; + mVerts[2] = triangle.mVerts[2]; + } + //! Destructor + inline_ ~Triangle() {} + //! Vertices + Point mVerts[3]; + + // Methods + void Flip(); + float Area() const; + float Perimeter() const; + float Compacity() const; + void Normal(Point& normal) const; + void DenormalizedNormal(Point& normal) const; + void Center(Point& center) const; + inline_ Plane PlaneEquation() const { return Plane(mVerts[0], mVerts[1], mVerts[2]); } + + PartVal TestAgainstPlane(const Plane& plane, float epsilon) const; +// float Distance(Point& cp, Point& cq, Tri& tri); + void ComputeMoment(Moment& m); + float MinEdgeLength() const; + float MaxEdgeLength() const; + void ComputePoint(float u, float v, Point& pt, udword* nearvtx=null) const; + void Inflate(float fat_coeff, bool constant_border); + }; + +#endif // __ICETRIANGLE_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceTypes.h b/libs/ode-0.16.1/OPCODE/Ice/IceTypes.h new file mode 100644 index 0000000..c896623 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceTypes.h @@ -0,0 +1,161 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains custom types. + * \file IceTypes.h + * \author Pierre Terdiman + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICETYPES_H__ +#define __ICETYPES_H__ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Things to help us compile on non-windows platforms + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + #define USE_HANDLE_MANAGER + + // Constants + #define PI 3.1415926535897932384626433832795028841971693993751f //!< PI + #define HALFPI 1.57079632679489661923f //!< 0.5 * PI + #define TWOPI 6.28318530717958647692f //!< 2.0 * PI + #define INVPI 0.31830988618379067154f //!< 1.0 / PI + + #define RADTODEG 57.2957795130823208768f //!< 180.0 / PI, convert radians to degrees + #define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians + + #define EXP 2.71828182845904523536f //!< e + #define INVLOG2 3.32192809488736234787f //!< 1.0 / log10(2) + #define LN2 0.693147180559945f //!< ln(2) + #define INVLN2 1.44269504089f //!< 1.0f / ln(2) + + #define INV3 0.33333333333333333333f //!< 1/3 + #define INV6 0.16666666666666666666f //!< 1/6 + #define INV7 0.14285714285714285714f //!< 1/7 + #define INV9 0.11111111111111111111f //!< 1/9 + #define INV255 0.00392156862745098039f //!< 1/255 + + #define SQRT2 1.41421356237f //!< sqrt(2) + #define INVSQRT2 0.707106781188f //!< 1 / sqrt(2) + + #define SQRT3 1.73205080757f //!< sqrt(3) + #define INVSQRT3 0.577350269189f //!< 1 / sqrt(3) + + #define null 0 //!< our own NULL pointer + + // Custom types used in ICE + typedef signed char sbyte; //!< sizeof(sbyte) must be 1 + typedef unsigned char ubyte; //!< sizeof(ubyte) must be 1 + typedef signed short sword; //!< sizeof(sword) must be 2 + typedef unsigned short uword; //!< sizeof(uword) must be 2 + typedef signed int sdword; //!< sizeof(sdword) must be 4 + typedef unsigned int udword; //!< sizeof(udword) must be 4 + typedef signed __int64 sqword; //!< sizeof(sqword) must be 8 + typedef unsigned __int64 uqword; //!< sizeof(uqword) must be 8 + typedef float float32; //!< sizeof(float32) must be 4 + typedef double float64; //!< sizeof(float64) must be 4 + + ICE_COMPILE_TIME_ASSERT(sizeof(ubyte)==1); + ICE_COMPILE_TIME_ASSERT(sizeof(sbyte)==1); + ICE_COMPILE_TIME_ASSERT(sizeof(sword)==2); + ICE_COMPILE_TIME_ASSERT(sizeof(uword)==2); + ICE_COMPILE_TIME_ASSERT(sizeof(udword)==4); + ICE_COMPILE_TIME_ASSERT(sizeof(sdword)==4); + ICE_COMPILE_TIME_ASSERT(sizeof(uqword)==8); + ICE_COMPILE_TIME_ASSERT(sizeof(sqword)==8); + + //! TO BE DOCUMENTED + #define DECLARE_ICE_HANDLE(name) struct name##__ { int unused; }; typedef struct name##__ *name + + typedef udword DynID; //!< Dynamic identifier +#ifdef USE_HANDLE_MANAGER + typedef udword KID; //!< Kernel ID +// DECLARE_ICE_HANDLE(KID); +#else + typedef uword KID; //!< Kernel ID +#endif + typedef udword RTYPE; //!< Relationship-type (!) between owners and references + #define INVALID_ID 0xffffffff //!< Invalid dword ID (counterpart of null pointers) +#ifdef USE_HANDLE_MANAGER + #define INVALID_KID 0xffffffff //!< Invalid Kernel ID +#else + #define INVALID_KID 0xffff //!< Invalid Kernel ID +#endif + #define INVALID_NUMBER 0xDEADBEEF //!< Standard junk value + + // Define BOOL if needed + #ifndef BOOL + typedef int BOOL; //!< Another boolean type. + #endif + + //! Union of a float and a sdword + typedef union { + float f; //!< The float + sdword d; //!< The integer + }scell; + + //! Union of a float and a udword + typedef union { + float f; //!< The float + udword d; //!< The integer + }ucell; + + // Type ranges + #define MAX_SBYTE 0x7f //!< max possible sbyte value + #define MIN_SBYTE 0x80 //!< min possible sbyte value + #define MAX_UBYTE 0xff //!< max possible ubyte value + #define MIN_UBYTE 0x00 //!< min possible ubyte value + #define MAX_SWORD 0x7fff //!< max possible sword value + #define MIN_SWORD 0x8000 //!< min possible sword value + #define MAX_UWORD 0xffff //!< max possible uword value + #define MIN_UWORD 0x0000 //!< min possible uword value + #define MAX_SDWORD 0x7fffffff //!< max possible sdword value + #define MIN_SDWORD 0x80000000 //!< min possible sdword value + #define MAX_UDWORD 0xffffffff //!< max possible udword value + #define MIN_UDWORD 0x00000000 //!< min possible udword value + #define MAX_FLOAT FLT_MAX //!< max possible float value + #define MIN_FLOAT (-FLT_MAX) //!< min possible loat value + #define IEEE_1_0 0x3f800000 //!< integer representation of 1.0 + #define IEEE_255_0 0x437f0000 //!< integer representation of 255.0 + #define IEEE_MAX_FLOAT 0x7f7fffff //!< integer representation of MAX_FLOAT + #define IEEE_MIN_FLOAT 0xff7fffff //!< integer representation of MIN_FLOAT + #define IEEE_UNDERFLOW_LIMIT 0x1a000000 + + #define ONE_OVER_RAND_MAX (1.0f / float(RAND_MAX)) //!< Inverse of the max possible value returned by rand() + + // typedef int (__stdcall* PROC)(); -- Oleh Derevenko: Conflicts with Windows headers in x64 mode //!< A standard procedure call. + typedef bool (*ENUMERATION)(udword value, udword param, udword context); //!< ICE standard enumeration call + typedef void** VTABLE; //!< A V-Table. + + #undef MIN + #undef MAX + #define MIN(a, b) ((a) < (b) ? (a) : (b)) //!< Returns the min value between a and b + #define MAX(a, b) ((a) > (b) ? (a) : (b)) //!< Returns the max value between a and b + #define MAXMAX(a,b,c) ((a) > (b) ? MAX (a,c) : MAX (b,c)) //!< Returns the max value between a, b and c + + template<class T> inline_ const T& TMin (const T& a, const T& b) { return b < a ? b : a; } + template<class T> inline_ const T& TMax (const T& a, const T& b) { return a < b ? b : a; } + template<class T> inline_ void TSetMin (T& a, const T& b) { if(a>b) a = b; } + template<class T> inline_ void TSetMax (T& a, const T& b) { if(a<b) a = b; } + + #define SQR(x) ((x)*(x)) //!< Returns x square + #define CUBE(x) ((x)*(x)*(x)) //!< Returns x cube + + #define AND & //!< ... + #define OR | //!< ... + #define XOR ^ //!< ... + + #define QUADRAT(x) ((x)*(x)) //!< Returns x square + +#ifdef _WIN32 +# define srand48(x) srand((unsigned int) (x)) +# define srandom(x) srand((unsigned int) (x)) +# define random() ((double) rand()) +# define drand48() ((double) (((double) rand()) / ((double) RAND_MAX))) +#endif + +#endif // __ICETYPES_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceUtils.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceUtils.cpp new file mode 100644 index 0000000..29b6c57 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceUtils.cpp @@ -0,0 +1,39 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains misc. useful macros & defines. + * \file IceUtils.cpp + * \author Pierre Terdiman (collected from various sources) + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceCore; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns the alignment of the input address. + * \fn Alignment() + * \param address [in] address to check + * \return the best alignment (e.g. 1 for odd addresses, etc) + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword IceCore::Alignment(udword address) +{ + // Returns 0 for null addresses + if(!address) return 0; + + // Test all bits + udword Align = 1; + for(udword i=1;i<32;i++) + { + // Returns as soon as the alignment is broken + if(address&Align) return Align; + Align<<=1; + } + // Here all bits are null, except the highest one (else the address would be null) + return Align; +} diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceUtils.h b/libs/ode-0.16.1/OPCODE/Ice/IceUtils.h new file mode 100644 index 0000000..5fafdcc --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceUtils.h @@ -0,0 +1,259 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains misc. useful macros & defines. + * \file IceUtils.h + * \author Pierre Terdiman (collected from various sources) + * \date April, 4, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __ICEUTILS_H__ +#define __ICEUTILS_H__ + +// #define START_RUNONCE { static bool __RunOnce__ = false; if(!__RunOnce__){ -- not thread safe +// #define END_RUNONCE __RunOnce__ = true;}} -- not thread safe + + //! Reverse all the bits in a 32 bit word (from Steve Baker's Cute Code Collection) + //! (each line can be done in any order. + inline_ void ReverseBits(udword& n) + { + n = ((n >> 1) & 0x55555555) | ((n << 1) & 0xaaaaaaaa); + n = ((n >> 2) & 0x33333333) | ((n << 2) & 0xcccccccc); + n = ((n >> 4) & 0x0f0f0f0f) | ((n << 4) & 0xf0f0f0f0); + n = ((n >> 8) & 0x00ff00ff) | ((n << 8) & 0xff00ff00); + n = ((n >> 16) & 0x0000ffff) | ((n << 16) & 0xffff0000); + // Etc for larger intergers (64 bits in Java) + // NOTE: the >> operation must be unsigned! (>>> in java) + } + + //! Count the number of '1' bits in a 32 bit word (from Steve Baker's Cute Code Collection) + inline_ udword CountBits(udword n) + { + // This relies of the fact that the count of n bits can NOT overflow + // an n bit interger. EG: 1 bit count takes a 1 bit interger, 2 bit counts + // 2 bit interger, 3 bit count requires only a 2 bit interger. + // So we add all bit pairs, then each nible, then each byte etc... + n = (n & 0x55555555) + ((n & 0xaaaaaaaa) >> 1); + n = (n & 0x33333333) + ((n & 0xcccccccc) >> 2); + n = (n & 0x0f0f0f0f) + ((n & 0xf0f0f0f0) >> 4); + n = (n & 0x00ff00ff) + ((n & 0xff00ff00) >> 8); + n = (n & 0x0000ffff) + ((n & 0xffff0000) >> 16); + // Etc for larger intergers (64 bits in Java) + // NOTE: the >> operation must be unsigned! (>>> in java) + return n; + } + + //! Even faster? + inline_ udword CountBits2(udword bits) + { + bits = bits - ((bits >> 1) & 0x55555555); + bits = ((bits >> 2) & 0x33333333) + (bits & 0x33333333); + bits = ((bits >> 4) + bits) & 0x0F0F0F0F; + return (bits * 0x01010101) >> 24; + } + + //! Spread out bits. EG 00001111 -> 0101010101 + //! 00001010 -> 0100010000 + //! This is used to interleve to intergers to produce a `Morten Key' + //! used in Space Filling Curves (See DrDobbs Journal, July 1999) + //! Order is important. + inline_ void SpreadBits(udword& n) + { + n = ( n & 0x0000ffff) | (( n & 0xffff0000) << 16); + n = ( n & 0x000000ff) | (( n & 0x0000ff00) << 8); + n = ( n & 0x000f000f) | (( n & 0x00f000f0) << 4); + n = ( n & 0x03030303) | (( n & 0x0c0c0c0c) << 2); + n = ( n & 0x11111111) | (( n & 0x22222222) << 1); + } + + // Next Largest Power of 2 + // Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm + // that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with + // the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next + // largest power of 2. For a 32-bit value: + inline_ udword nlpo2(udword x) + { + x |= (x >> 1); + x |= (x >> 2); + x |= (x >> 4); + x |= (x >> 8); + x |= (x >> 16); + return x+1; + } + + //! Test to see if a number is an exact power of two (from Steve Baker's Cute Code Collection) + inline_ bool IsPowerOfTwo(udword n) { return ((n&(n-1))==0); } + + //! Zero the least significant '1' bit in a word. (from Steve Baker's Cute Code Collection) + inline_ void ZeroLeastSetBit(udword& n) { n&=(n-1); } + + //! Set the least significant N bits in a word. (from Steve Baker's Cute Code Collection) + inline_ void SetLeastNBits(udword& x, udword n) { x|=~(~0<<n); } + + //! Classic XOR swap (from Steve Baker's Cute Code Collection) + //! x ^= y; /* x' = (x^y) */ + //! y ^= x; /* y' = (y^(x^y)) = x */ + //! x ^= y; /* x' = (x^y)^x = y */ + inline_ void Swap(udword& x, udword& y) { x ^= y; y ^= x; x ^= y; } + inline_ void Swap(uword& x, uword& y) { x ^= y; y ^= x; x ^= y; } + + //! Little/Big endian (from Steve Baker's Cute Code Collection) + //! + //! Extra comments by Kenny Hoff: + //! Determines the byte-ordering of the current machine (little or big endian) + //! by setting an integer value to 1 (so least significant bit is now 1); take + //! the address of the int and cast to a byte pointer (treat integer as an + //! array of four bytes); check the value of the first byte (must be 0 or 1). + //! If the value is 1, then the first byte least significant byte and this + //! implies LITTLE endian. If the value is 0, the first byte is the most + //! significant byte, BIG endian. Examples: + //! integer 1 on BIG endian: 00000000 00000000 00000000 00000001 + //! integer 1 on LITTLE endian: 00000001 00000000 00000000 00000000 + //!--------------------------------------------------------------------------- + //! int IsLittleEndian() { int x=1; return ( ((char*)(&x))[0] ); } + inline_ char LittleEndian() { int i = 1; return *((char*)&i); } + + //!< Alternative abs function + inline_ udword abs_(sdword x) { sdword y= x >> 31; return (x^y)-y; } + + //!< Alternative min function + inline_ sdword min_(sdword a, sdword b) { sdword delta = b-a; return a + (delta&(delta>>31)); } + + // Determine if one of the bytes in a 4 byte word is zero + inline_ BOOL HasNullByte(udword x) { return ((x + 0xfefefeff) & (~x) & 0x80808080); } + + // To find the smallest 1 bit in a word EG: ~~~~~~10---0 => 0----010---0 + inline_ udword LowestOneBit(udword w) { return ((w) & (~(w)+1)); } +// inline_ udword LowestOneBit_(udword w) { return ((w) & (-(w))); } + + // Most Significant 1 Bit + // Given a binary integer value x, the most significant 1 bit (highest numbered element of a bit set) + // can be computed using a SWAR algorithm that recursively "folds" the upper bits into the lower bits. + // This process yields a bit vector with the same most significant 1 as x, but all 1's below it. + // Bitwise AND of the original value with the complement of the "folded" value shifted down by one + // yields the most significant bit. For a 32-bit value: + inline_ udword msb32(udword x) + { + x |= (x >> 1); + x |= (x >> 2); + x |= (x >> 4); + x |= (x >> 8); + x |= (x >> 16); + return (x & ~(x >> 1)); + } + + /* + "Just call it repeatedly with various input values and always with the same variable as "memory". + The sharpness determines the degree of filtering, where 0 completely filters out the input, and 1 + does no filtering at all. + + I seem to recall from college that this is called an IIR (Infinite Impulse Response) filter. As opposed + to the more typical FIR (Finite Impulse Response). + + Also, I'd say that you can make more intelligent and interesting filters than this, for example filters + that remove wrong responses from the mouse because it's being moved too fast. You'd want such a filter + to be applied before this one, of course." + + (JCAB on Flipcode) + */ + inline_ float FeedbackFilter(float val, float& memory, float sharpness) + { + ASSERT(sharpness>=0.0f && sharpness<=1.0f && "Invalid sharpness value in feedback filter"); + if(sharpness<0.0f) sharpness = 0.0f; + else if(sharpness>1.0f) sharpness = 1.0f; + return memory = val * sharpness + memory * (1.0f - sharpness); + } + + //! If you can guarantee that your input domain (i.e. value of x) is slightly + //! limited (abs(x) must be < ((1<<31u)-32767)), then you can use the + //! following code to clamp the resulting value into [-32768,+32767] range: + inline_ int ClampToInt16(int x) + { +// ASSERT(abs(x) < (int)((1<<31u)-32767)); + + int delta = 32767 - x; + x += (delta>>31) & delta; + delta = x + 32768; + x -= (delta>>31) & delta; + return x; + } + + // Generic functions + template<class Type> inline_ void TSwap(Type& a, Type& b) { const Type c = a; a = b; b = c; } + template<class Type> inline_ Type TClamp(const Type& x, const Type& lo, const Type& hi) { return ((x<lo) ? lo : (x>hi) ? hi : x); } + + template<class Type> inline_ void TSort(Type& a, Type& b) + { + if(a>b) TSwap(a, b); + } + + template<class Type> inline_ void TSort(Type& a, Type& b, Type& c) + { + if(a>b) TSwap(a, b); + if(b>c) TSwap(b, c); + if(a>b) TSwap(a, b); + if(b>c) TSwap(b, c); + } + + // Prevent nasty user-manipulations (strategy borrowed from Charles Bloom) +// #define PREVENT_COPY(curclass) void operator = (const curclass& object) { ASSERT(!"Bad use of operator ="); } + // ... actually this is better ! + #define PREVENT_COPY(cur_class) private: cur_class(const cur_class& object); cur_class& operator=(const cur_class& object); + + //! TO BE DOCUMENTED + #define OFFSET_OF(Class, Member) (size_t)&(((Class*)0)->Member) + //! TO BE DOCUMENTED +#ifndef ARRAYSIZE + #define ARRAYSIZE(p) (sizeof(p)/sizeof((p)[0])) +#endif // #ifndef ARRAYSIZE + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Returns the alignment of the input address. + * \fn Alignment() + * \param address [in] address to check + * \return the best alignment (e.g. 1 for odd addresses, etc) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + FUNCTION ICECORE_API udword Alignment(udword address); + + #define IS_ALIGNED_2(x) ((x&1)==0) + #define IS_ALIGNED_4(x) ((x&3)==0) + #define IS_ALIGNED_8(x) ((x&7)==0) + + inline_ void _prefetch(void const* ptr) { (void)*(char const volatile *)ptr; } + + // Compute implicit coords from an index: + // The idea is to get back 2D coords from a 1D index. + // For example: + // + // 0 1 2 ... nbu-1 + // nbu nbu+1 i ... + // + // We have i, we're looking for the equivalent (u=2, v=1) location. + // i = u + v*nbu + // <=> i/nbu = u/nbu + v + // Since 0 <= u < nbu, u/nbu = 0 (integer) + // Hence: v = i/nbu + // Then we simply put it back in the original equation to compute u = i - v*nbu + inline_ void Compute2DCoords(udword& u, udword& v, udword i, udword nbu) + { + v = i / nbu; + u = i - (v * nbu); + } + + // In 3D: i = u + v*nbu + w*nbu*nbv + // <=> i/(nbu*nbv) = u/(nbu*nbv) + v/nbv + w + // u/(nbu*nbv) is null since u/nbu was null already. + // v/nbv is null as well for the same reason. + // Hence w = i/(nbu*nbv) + // Then we're left with a 2D problem: i' = i - w*nbu*nbv = u + v*nbu + inline_ void Compute3DCoords(udword& u, udword& v, udword& w, udword i, udword nbu, udword nbu_nbv) + { + w = i / (nbu_nbv); + Compute2DCoords(u, v, i - (w * nbu_nbv), nbu); + } + +#endif // __ICEUTILS_H__ diff --git a/libs/ode-0.16.1/OPCODE/Ice/Makefile.am b/libs/ode-0.16.1/OPCODE/Ice/Makefile.am new file mode 100644 index 0000000..4f3256c --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/Makefile.am @@ -0,0 +1,20 @@ +AM_CPPFLAGS = -I$(top_srcdir)/OPCODE \ + -I$(top_srcdir)/include \ + -I$(top_builddir)/include + +noinst_LTLIBRARIES = libIce.la +libIce_la_SOURCES = \ + IceAABB.cpp IceAABB.h IceAxes.h \ + IceBoundingSphere.h IceContainer.cpp IceContainer.h \ + IceFPU.h IceHPoint.cpp IceHPoint.h \ + IceIndexedTriangle.cpp IceIndexedTriangle.h IceLSS.h \ + IceMatrix3x3.cpp IceMatrix3x3.h IceMatrix4x4.cpp \ + IceMatrix4x4.h IceMemoryMacros.h IceOBB.cpp \ + IceOBB.h IcePairs.h IcePlane.cpp \ + IcePlane.h IcePoint.cpp IcePoint.h \ + IcePreprocessor.h IceRandom.cpp IceRandom.h \ + IceRay.cpp IceRay.h IceRevisitedRadix.cpp \ + IceRevisitedRadix.h IceSegment.cpp IceSegment.h \ + IceTriangle.cpp IceTriangle.h IceTriList.h \ + IceTypes.h IceUtils.cpp IceUtils.h + diff --git a/libs/ode-0.16.1/OPCODE/Ice/Makefile.in b/libs/ode-0.16.1/OPCODE/Ice/Makefile.in new file mode 100644 index 0000000..d5f05b7 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/Makefile.in @@ -0,0 +1,660 @@ +# Makefile.in generated by automake 1.15 from Makefile.am. +# @configure_input@ + +# Copyright (C) 1994-2014 Free Software Foundation, Inc. + +# This Makefile.in is free software; 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pdf-am ps ps-am tags tags-am uninstall \ + uninstall-am + +.PRECIOUS: Makefile + + +# Tell versions [3.59,3.63) of GNU make to not export all variables. +# Otherwise a system limit (for SysV at least) may be exceeded. +.NOEXPORT: 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; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.h b/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.h new file mode 100644 index 0000000..315d2d3 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.h @@ -0,0 +1,97 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * 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.h + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_AABBCOLLIDER_H__ +#define __OPC_AABBCOLLIDER_H__ + + struct OPCODE_API AABBCache : VolumeCache + { + AABBCache() : FatCoeff(1.1f) + { + FatBox.mCenter.Zero(); + FatBox.mExtents.Zero(); + } + + // Cached faces signature + CollisionAABB FatBox; //!< Box used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere + }; + + class OPCODE_API AABBCollider : public VolumeCollider + { + public: + // Constructor / Destructor + AABBCollider(); + virtual ~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 Collide(AABBCache& cache, const CollisionAABB& box, const Model& model); + // + bool Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree); + protected: + CollisionAABB mBox; //!< Query box in (center, extents) form + Point mMin; //!< Query box min point + Point mMax; //!< Query box max point + // Leaf description + Point mLeafVerts[3]; //!< Triangle vertices + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _Collide(const AABBTreeNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL AABBContainsBox(const Point& bc, const Point& be); + inline_ BOOL AABBAABBOverlap(const Point& b, const Point& Pb); + inline_ BOOL TriBoxOverlap(); + // Init methods + BOOL InitQuery(AABBCache& cache, const CollisionAABB& box); + }; + + class OPCODE_API HybridAABBCollider : public AABBCollider + { + public: + // Constructor / Destructor + HybridAABBCollider(); + virtual ~HybridAABBCollider(); + + bool Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_AABBCOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp new file mode 100644 index 0000000..48129a8 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp @@ -0,0 +1,568 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a versatile AABB tree. + * \file OPC_AABBTree.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a generic AABB tree node. + * + * \class AABBTreeNode + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a generic AABB tree. + * This is a vanilla AABB tree, without any particular optimization. It contains anonymous references to + * user-provided primitives, which can theoretically be anything - triangles, boxes, etc. Each primitive + * is surrounded by an AABB, regardless of the primitive's nature. When the primitive is a triangle, the + * resulting tree can be converted into an optimized tree. If the primitive is a box, the resulting tree + * can be used for culling - VFC or occlusion -, assuming you cull on a mesh-by-mesh basis (modern way). + * + * \class AABBTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeNode::AABBTreeNode() : + mPos (null), +#ifndef OPC_NO_NEG_VANILLA_TREE + mNeg (null), +#endif + mNodePrimitives (null), + mNbPrimitives (0) +{ +#ifdef OPC_USE_TREE_COHERENCE + mBitmask = 0; +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeNode::~AABBTreeNode() +{ + // Opcode 1.3: + const AABBTreeNode* Pos = GetPos(); +#ifndef OPC_NO_NEG_VANILLA_TREE + const AABBTreeNode* Neg = GetNeg(); + if(!(mPos&1)) DELETESINGLE(Pos); + if(!(mNeg&1)) DELETESINGLE(Neg); +#else + if(!(mPos&1)) DELETEARRAY(Pos); +#endif + mNodePrimitives = null; // This was just a shortcut to the global list => no release + mNbPrimitives = 0; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Splits the node along a given axis. + * The list of indices is reorganized according to the split values. + * \param axis [in] splitting axis index + * \param builder [in] the tree builder + * \return the number of primitives assigned to the first child + * \warning this method reorganizes the internal list of primitives + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTreeNode::Split(udword axis, AABBTreeBuilder* builder) +{ + // Get node split value + float SplitValue = builder->GetSplittingValue(mNodePrimitives, mNbPrimitives, mBV, axis); + + udword NbPos = 0; + // Loop through all node-related primitives. Their indices range from mNodePrimitives[0] to mNodePrimitives[mNbPrimitives-1]. + // Those indices map the global list in the tree builder. + for(udword i=0;i<mNbPrimitives;i++) + { + // Get index in global list + udword Index = mNodePrimitives[i]; + + // Test against the splitting value. The primitive value is tested against the enclosing-box center. + // [We only need an approximate partition of the enclosing box here.] + float PrimitiveValue = builder->GetSplittingValue(Index, axis); + + // Reorganize the list of indices in this order: positive - negative. + if(PrimitiveValue > SplitValue) + { + // Swap entries + udword Tmp = mNodePrimitives[i]; + mNodePrimitives[i] = mNodePrimitives[NbPos]; + mNodePrimitives[NbPos] = Tmp; + // Count primitives assigned to positive space + NbPos++; + } + } + return NbPos; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Subdivides the node. + * + * N + * / \ + * / \ + * N/2 N/2 + * / \ / \ + * N/4 N/4 N/4 N/4 + * (etc) + * + * A well-balanced tree should have a O(log n) depth. + * A degenerate tree would have a O(n) depth. + * Note a perfectly-balanced tree is not well-suited to collision detection anyway. + * + * \param builder [in] the tree builder + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeNode::Subdivide(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder) return false; + + // Stop subdividing if we reach a leaf node. This is always performed here, + // else we could end in trouble if user overrides this. + if(mNbPrimitives==1) return true; + + // Let the user validate the subdivision + if(!builder->ValidateSubdivision(mNodePrimitives, mNbPrimitives, mBV)) return true; + + bool ValidSplit = true; // Optimism... + udword NbPos; + if(builder->mSettings.mRules & SPLIT_LARGEST_AXIS) + { + // Find the largest axis to split along + Point Extents; mBV.GetExtents(Extents); // Box extents + udword Axis = Extents.LargestAxis(); // Index of largest axis + + // Split along the axis + NbPos = Split(Axis, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_SPLATTER_POINTS) + { + // Compute the means + Point Means(0.0f, 0.0f, 0.0f); + for(udword i=0;i<mNbPrimitives;i++) + { + udword Index = mNodePrimitives[i]; + Means += builder->GetSplittingValues(Index); + } + Means/=float(mNbPrimitives); + + // Compute variances + Point Vars(0.0f, 0.0f, 0.0f); + for(udword i=0;i<mNbPrimitives;i++) + { + udword Index = mNodePrimitives[i]; + Point Center = builder->GetSplittingValues(Index); + Point Delta = Center - Means; + Vars += Delta * Delta; + } + Vars/=float(mNbPrimitives-1); + + // Choose axis with greatest variance + udword Axis = Vars.LargestAxis(); + + // Split along the axis + NbPos = Split(Axis, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_BALANCED) + { + // Test 3 axis, take the best + float Results[3]; + NbPos = Split(0, builder); Results[0] = float(NbPos)/float(mNbPrimitives); + NbPos = Split(1, builder); Results[1] = float(NbPos)/float(mNbPrimitives); + NbPos = Split(2, builder); Results[2] = float(NbPos)/float(mNbPrimitives); + Results[0]-=0.5f; Results[0]*=Results[0]; + Results[1]-=0.5f; Results[1]*=Results[1]; + Results[2]-=0.5f; Results[2]*=Results[2]; + udword Min=0; + if(Results[1]<Results[Min]) Min = 1; + if(Results[2]<Results[Min]) Min = 2; + + // Split along the axis + NbPos = Split(Min, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_BEST_AXIS) + { + // Test largest, then middle, then smallest axis... + + // Sort axis + Point Extents; mBV.GetExtents(Extents); // Box extents + udword SortedAxis[] = { 0, 1, 2 }; + float* Keys = (float*)&Extents.x; + for(udword j=0;j<3;j++) + { + for(udword i=0;i<2;i++) + { + if(Keys[SortedAxis[i]]<Keys[SortedAxis[i+1]]) + { + udword Tmp = SortedAxis[i]; + SortedAxis[i] = SortedAxis[i+1]; + SortedAxis[i+1] = Tmp; + } + } + } + + // Find the largest axis to split along + udword CurAxis = 0; + ValidSplit = false; + while(!ValidSplit && CurAxis!=3) + { + NbPos = Split(SortedAxis[CurAxis], builder); + // Check the subdivision has been successful + if(!NbPos || NbPos==mNbPrimitives) CurAxis++; + else ValidSplit = true; + } + } + else if(builder->mSettings.mRules & SPLIT_FIFTY) + { + // Don't even bother splitting (mainly a performance test) + NbPos = mNbPrimitives>>1; + } + else return false; // Unknown splitting rules + + // Check the subdivision has been successful + if(!ValidSplit) + { + // Here, all boxes lie in the same sub-space. Two strategies: + // - if the tree *must* be complete, make an arbitrary 50-50 split + // - else stop subdividing +// if(builder->mSettings.mRules&SPLIT_COMPLETE) + if(builder->mSettings.mLimit==1) + { + builder->IncreaseNbInvalidSplits(); + NbPos = mNbPrimitives>>1; + } + else return true; + } + + // Now create children and assign their pointers. + if(builder->mNodeBase) + { + // We use a pre-allocated linear pool for complete trees [Opcode 1.3] + AABBTreeNode* Pool = (AABBTreeNode*)builder->mNodeBase; + udword Count = builder->GetCount() - 1; // Count begins to 1... + // Set last bit to tell it shouldn't be freed ### pretty ugly, find a better way. Maybe one bit in mNbPrimitives + ASSERT(!(udword(&Pool[Count+0])&1)); + ASSERT(!(udword(&Pool[Count+1])&1)); + mPos = size_t(&Pool[Count+0])|1; +#ifndef OPC_NO_NEG_VANILLA_TREE + mNeg = size_t(&Pool[Count+1])|1; +#endif + } + else + { + // Non-complete trees and/or Opcode 1.2 allocate nodes on-the-fly +#ifndef OPC_NO_NEG_VANILLA_TREE + mPos = (size_t)new AABBTreeNode; CHECKALLOC(mPos); + mNeg = (size_t)new AABBTreeNode; CHECKALLOC(mNeg); +#else + AABBTreeNode* PosNeg = new AABBTreeNode[2]; + CHECKALLOC(PosNeg); + mPos = (size_t)PosNeg; +#endif + } + + // Update stats + builder->IncreaseCount(2); + + // Assign children + AABBTreeNode* Pos = const_cast<AABBTreeNode *>(GetPos()); + AABBTreeNode* Neg = const_cast<AABBTreeNode *>(GetNeg()); + Pos->mNodePrimitives = &mNodePrimitives[0]; + Pos->mNbPrimitives = NbPos; + Neg->mNodePrimitives = &mNodePrimitives[NbPos]; + Neg->mNbPrimitives = mNbPrimitives - NbPos; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive hierarchy building in a top-down fashion. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeNode::_BuildHierarchy(AABBTreeBuilder* builder) +{ + // 1) Compute the global box for current node. The box is stored in mBV. + builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); + + // 2) Subdivide current node + Subdivide(builder); + + // 3) Recurse + AABBTreeNode* Pos = const_cast<AABBTreeNode *>(GetPos()); + AABBTreeNode* Neg = const_cast<AABBTreeNode *>(GetNeg()); + if(Pos) Pos->_BuildHierarchy(builder); + if(Neg) Neg->_BuildHierarchy(builder); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree (top-down). + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeNode::_Refit(AABBTreeBuilder* builder) +{ + // 1) Recompute the new global box for current node + builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); + + // 2) Recurse + AABBTreeNode* Pos = const_cast<AABBTreeNode *>(GetPos()); + AABBTreeNode* Neg = const_cast<AABBTreeNode *>(GetNeg()); + if(Pos) Pos->_Refit(builder); + if(Neg) Neg->_Refit(builder); +} + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTree::AABBTree() : mIndices(null), mPool(null), mTotalNbNodes(0) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTree::~AABBTree() +{ + Release(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases the tree. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTree::Release() +{ + DELETEARRAY(mPool); + DELETEARRAY(mIndices); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a generic AABB tree from a tree builder. + * \param builder [in] the tree builder + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Build(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder || !builder->mNbPrimitives) return false; + + // Release previous tree + Release(); + + // Init stats + builder->SetCount(1); + builder->SetNbInvalidSplits(0); + + // Initialize indices. This list will be modified during build. + mIndices = new dTriIndex[builder->mNbPrimitives]; + CHECKALLOC(mIndices); + // Identity permutation + for(udword i=0;i<builder->mNbPrimitives;i++) mIndices[i] = i; + + // Setup initial node. Here we have a complete permutation of the app's primitives. + mNodePrimitives = mIndices; + mNbPrimitives = builder->mNbPrimitives; + + // Use a linear array for complete trees (since we can predict the final number of nodes) [Opcode 1.3] +// if(builder->mRules&SPLIT_COMPLETE) + if(builder->mSettings.mLimit==1) + { + // Allocate a pool of nodes + mPool = new AABBTreeNode[builder->mNbPrimitives*2 - 1]; + + builder->mNodeBase = mPool; // ### ugly ! + } + + // Build the hierarchy + _BuildHierarchy(builder); + + // Get back total number of nodes + mTotalNbNodes = builder->GetCount(); + + // For complete trees, check the correct number of nodes has been created [Opcode 1.3] + if(mPool) ASSERT(mTotalNbNodes==builder->mNbPrimitives*2 - 1); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the depth of the tree. + * A well-balanced tree should have a log(n) depth. A degenerate tree O(n) depth. + * \return depth of the tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::ComputeDepth() const +{ + return Walk(null, null); // Use the walking code without callback +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree, calling the user back for each node. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::Walk(WalkingCallback callback, void* user_data) const +{ + // Call it without callback to compute max depth + udword MaxDepth = 0; + udword CurrentDepth = 0; + + struct Local + { + static void _Walk(const AABBTreeNode* current_node, udword& max_depth, udword& current_depth, WalkingCallback callback, void* user_data) + { + // Checkings + if(!current_node) return; + // Entering a new node => increase depth + current_depth++; + // Keep track of max depth + if(current_depth>max_depth) max_depth = current_depth; + + // Callback + if(callback && !(callback)(current_node, current_depth, user_data)) return; + + // Recurse + if(current_node->GetPos()) { _Walk(current_node->GetPos(), max_depth, current_depth, callback, user_data); current_depth--; } + if(current_node->GetNeg()) { _Walk(current_node->GetNeg(), max_depth, current_depth, callback, user_data); current_depth--; } + } + }; + Local::_Walk(this, MaxDepth, CurrentDepth, callback, user_data); + return MaxDepth; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree in a top-down way. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Refit(AABBTreeBuilder* builder) +{ + if(!builder) return false; + _Refit(builder); + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree in a bottom-up way. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Refit2(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder) return false; + + ASSERT(mPool); + + // Bottom-up update + Point Min,Max; + Point Min_,Max_; + udword Index = mTotalNbNodes; + while(Index--) + { + AABBTreeNode& Current = mPool[Index]; + + if(Current.IsLeaf()) + { + builder->ComputeGlobalBox(Current.GetPrimitives(), Current.GetNbPrimitives(), *const_cast<AABB*>(Current.GetAABB())); + } + else + { + Current.GetPos()->GetAABB()->GetMin(Min); + Current.GetPos()->GetAABB()->GetMax(Max); + + Current.GetNeg()->GetAABB()->GetMin(Min_); + Current.GetNeg()->GetAABB()->GetMax(Max_); + + Min.Min(Min_); + Max.Max(Max_); + + const_cast<AABB*>(Current.GetAABB())->SetMinMax(Min, Max); + } + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the number of bytes used by the tree. + * \return number of bytes used + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::GetUsedBytes() const +{ + udword TotalSize = mTotalNbNodes*GetNodeSize(); + if(mIndices) TotalSize+=mNbPrimitives*sizeof(udword); + return TotalSize; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the tree is a complete tree or not. + * A complete tree is made of 2*N-1 nodes, where N is the number of primitives in the tree. + * \return true for complete trees + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::IsComplete() const +{ + return (GetNbNodes()==GetNbPrimitives()*2-1); +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_AABBTree.h b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.h new file mode 100644 index 0000000..681be9d --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.h @@ -0,0 +1,137 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a versatile AABB tree. + * \file OPC_AABBTree.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_AABBTREE_H__ +#define __OPC_AABBTREE_H__ + +#ifdef OPC_NO_NEG_VANILLA_TREE + //! TO BE DOCUMENTED + #define IMPLEMENT_TREE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + base_class(); \ + ~base_class(); \ + /* Data access */ \ + inline_ const volume* Get##volume() const { return &mBV; } \ + /* Clear the last bit */ \ + inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ + inline_ const base_class* GetNeg() const { const base_class* P = GetPos(); return P ? P+1 : null;} \ + \ + /* We don't need to test both nodes since we can't have one without the other */ \ + inline_ bool IsLeaf() const { return !GetPos(); } \ + \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + protected: \ + /* Tree-independent data */ \ + /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ + /* Whatever happens we need the two children and the enclosing volume.*/ \ + volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ + size_t mPos; /* "Positive" & "Negative" children */ +#else + //! TO BE DOCUMENTED + #define IMPLEMENT_TREE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + base_class(); \ + ~base_class(); \ + /* Data access */ \ + inline_ const volume* Get##volume() const { return &mBV; } \ + /* Clear the last bit */ \ + inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ + inline_ const base_class* GetNeg() const { return (const base_class*)(mNeg&~1); } \ + \ +/* inline_ bool IsLeaf() const { return (!GetPos() && !GetNeg()); } */ \ + /* We don't need to test both nodes since we can't have one without the other */ \ + inline_ bool IsLeaf() const { return !GetPos(); } \ + \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + protected: \ + /* Tree-independent data */ \ + /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ + /* Whatever happens we need the two children and the enclosing volume.*/ \ + volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ + size_t mPos; /* "Positive" child */ \ + size_t mNeg; /* "Negative" child */ +#endif + + typedef void (*CullingCallback) (udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data); + + class OPCODE_API AABBTreeNode + { + IMPLEMENT_TREE(AABBTreeNode, AABB) + public: + // Data access + inline_ const dTriIndex* GetPrimitives() const { return mNodePrimitives; } + inline_ udword GetNbPrimitives() const { return mNbPrimitives; } + + protected: + // Tree-dependent data + dTriIndex* mNodePrimitives; //!< Node-related primitives (shortcut to a position in mIndices below) + udword mNbPrimitives; //!< Number of primitives for this node + // Internal methods + udword Split(udword axis, AABBTreeBuilder* builder); + bool Subdivide(AABBTreeBuilder* builder); + void _BuildHierarchy(AABBTreeBuilder* builder); + void _Refit(AABBTreeBuilder* builder); + }; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called for each node by the walking code. + * \param current [in] current node + * \param depth [in] current node's depth + * \param user_data [in] user-defined data + * \return true to recurse through children, else false to bypass them + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef bool (*WalkingCallback) (const AABBTreeNode* current, udword depth, void* user_data); + + class OPCODE_API AABBTree : public AABBTreeNode + { + public: + // Constructor / Destructor + AABBTree(); + ~AABBTree(); + // Build + bool Build(AABBTreeBuilder* builder); + void Release(); + + // Data access + inline_ const dTriIndex* GetIndices() const { return mIndices; } //!< Catch the indices + inline_ udword GetNbNodes() const { return mTotalNbNodes; } //!< Catch the number of nodes + + // Infos + bool IsComplete() const; + // Stats + udword ComputeDepth() const; + udword GetUsedBytes() const; + udword Walk(WalkingCallback callback, void* user_data) const; + + bool Refit(AABBTreeBuilder* builder); + bool Refit2(AABBTreeBuilder* builder); + private: + dTriIndex* mIndices; //!< Indices in the app list. Indices are reorganized during build (permutation). + AABBTreeNode* mPool; //!< Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3] + // Stats + udword mTotalNbNodes; //!< Number of nodes in the tree. + }; + +#endif // __OPC_AABBTREE_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_BaseModel.cpp b/libs/ode-0.16.1/OPCODE/OPC_BaseModel.cpp new file mode 100644 index 0000000..987c4f9 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_BaseModel.cpp @@ -0,0 +1,119 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base model interface. + * \file OPC_BaseModel.cpp + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * The base class for collision models. + * + * \class BaseModel + * \author Pierre Terdiman + * \version 1.3 + * \date May, 18, 2003 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BaseModel::BaseModel() : mIMesh(null), mModelCode(0), mSource(null), mTree(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BaseModel::~BaseModel() +{ + ReleaseBase(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases everything. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void BaseModel::ReleaseBase() +{ + DELETESINGLE(mSource); + DELETESINGLE(mTree); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Creates an optimized tree according to user-settings, and setups mModelCode. + * \param no_leaf [in] true for "no leaf" tree + * \param quantized [in] true for quantized tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool BaseModel::CreateTree(bool no_leaf, bool quantized) +{ + DELETESINGLE(mTree); + + // Setup model code + if(no_leaf) mModelCode |= OPC_NO_LEAF; + else mModelCode &= ~OPC_NO_LEAF; + + if(quantized) mModelCode |= OPC_QUANTIZED; + else mModelCode &= ~OPC_QUANTIZED; + + // Create the correct class + if(mModelCode & OPC_NO_LEAF) + { + if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedNoLeafTree; + else mTree = new AABBNoLeafTree; + } + else + { + if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedTree; + else mTree = new AABBCollisionTree; + } + CHECKALLOC(mTree); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool BaseModel::Refit() +{ + // Refit the optimized tree + return mTree->Refit(mIMesh); + +// Old code kept for reference : refit the source tree then rebuild ! +// if(!mSource) return false; +// // Ouch... +// mSource->Refit(&mTB); +// // Ouch... +// return mTree->Build(mSource); +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_BaseModel.h b/libs/ode-0.16.1/OPCODE/OPC_BaseModel.h new file mode 100644 index 0000000..eef77a6 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_BaseModel.h @@ -0,0 +1,199 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base model interface. + * \file OPC_BaseModel.h + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_BASEMODEL_H__ +#define __OPC_BASEMODEL_H__ + + //! Model creation structure + struct OPCODE_API OPCODECREATE + { + //! Constructor + inline_ OPCODECREATE(): + mIMesh(null), + mSettings(SPLIT_SPLATTER_POINTS | SPLIT_GEOM_CENTER), + mNoLeaf(true), + mQuantized(true), +#ifdef __MESHMERIZER_H__ + mCollisionHull(false), +#endif // __MESHMERIZER_H__ + mKeepOriginal(false), + mCanRemap(false) + { + } + + inline_ OPCODECREATE(MeshInterface *IMesh, const BuildSettings &Settings, bool NoLeaf, bool Quantized): + mIMesh(IMesh), + mSettings(Settings), + mNoLeaf(NoLeaf), + mQuantized(Quantized), +#ifdef __MESHMERIZER_H__ + mCollisionHull(false), +#endif // __MESHMERIZER_H__ + mKeepOriginal(false), + mCanRemap(false) + { + } + + MeshInterface* mIMesh; //!< Mesh interface (access to triangles & vertices) (*) + BuildSettings mSettings; //!< Builder's settings + bool mNoLeaf; //!< true => discard leaf nodes (else use a normal tree) + bool mQuantized; //!< true => quantize the tree (else use a normal tree) +#ifdef __MESHMERIZER_H__ + bool mCollisionHull; //!< true => use convex hull + GJK +#endif // __MESHMERIZER_H__ + bool mKeepOriginal; //!< true => keep a copy of the original tree (debug purpose) + bool mCanRemap; //!< true => allows OPCODE to reorganize client arrays + + // (*) This pointer is saved internally and used by OPCODE until collision structures are released, + // so beware of the object's lifetime. + }; + + enum ModelFlag + { + OPC_QUANTIZED = (1<<0), //!< Compressed/uncompressed tree + OPC_NO_LEAF = (1<<1), //!< Leaf/NoLeaf tree + OPC_SINGLE_NODE = (1<<2) //!< Special case for 1-node models + }; + + class OPCODE_API BaseModel + { + public: + // Constructor/Destructor + BaseModel(); + virtual ~BaseModel(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Build(const OPCODECREATE& create) = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual udword GetUsedBytes() const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Refit(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the source tree. + * \return generic tree + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const AABBTree* GetSourceTree() const { return mSource; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the tree. + * \return the collision tree + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const AABBOptimizedTree* GetTree() const { return mTree; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the tree. + * \return the collision tree + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ AABBOptimizedTree* GetTree() { return mTree; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of nodes in the tree. + * Should be 2*N-1 for normal trees and N-1 for optimized ones. + * \return number of nodes + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbNodes() const { return mTree->GetNbNodes(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks whether the tree has leaf nodes or not. + * \return true if the tree has leaf nodes (normal tree), else false (optimized tree) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL HasLeafNodes() const { return !(mModelCode & OPC_NO_LEAF); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks whether the tree is quantized or not. + * \return true if the tree is quantized + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsQuantized() const { return mModelCode & OPC_QUANTIZED; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks whether the model has a single node or not. This special case must be handled separately. + * \return true if the model has only 1 node + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL HasSingleNode() const { return mModelCode & OPC_SINGLE_NODE; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the model's code. + * \return model's code + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetModelCode() const { return mModelCode; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the mesh interface. + * \return mesh interface + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const MeshInterface* GetMeshInterface() const { return mIMesh; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Sets the mesh interface. + * \param imesh [in] mesh interface + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetMeshInterface(const MeshInterface* imesh) { mIMesh = imesh; } + + protected: + const MeshInterface* mIMesh; //!< User-defined mesh interface + udword mModelCode; //!< Model code = combination of ModelFlag(s) + AABBTree* mSource; //!< Original source tree + AABBOptimizedTree* mTree; //!< Optimized tree owned by the model + // Internal methods + void ReleaseBase(); + bool CreateTree(bool no_leaf, bool quantized); + }; + +#endif //__OPC_BASEMODEL_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_BoxBoxOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_BoxBoxOverlap.h new file mode 100644 index 0000000..757a17d --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_BoxBoxOverlap.h @@ -0,0 +1,122 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * OBB-OBB overlap test using the separating axis theorem. + * - original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID) + * - optimized for AABB trees by computing the rotation matrix once (SOLID-fashion) + * - the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory) + * - Class III axes can be disabled... (SOLID & Intel fashion) + * - ...or enabled to perform some profiling + * - CPU comparisons used when appropriate + * - lazy evaluation sometimes saves some work in case of early exits (unlike SOLID) + * + * \param ea [in] extents from box A + * \param ca [in] center from box A + * \param eb [in] extents from box B + * \param cb [in] center from box B + * \return true if boxes overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb) +{ + // Stats + mNbBVBVTests++; + + float t,t2; + + // Class I : A's basis vectors + float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x; + t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0]; + if(GREATER(Tx, t)) return FALSE; + + float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y; + t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1]; + if(GREATER(Ty, t)) return FALSE; + + float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z; + t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2]; + if(GREATER(Tz, t)) return FALSE; + + // Class II : B's basis vectors + t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2]; t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2]; t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2]; t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z; + if(GREATER(t, t2)) return FALSE; + + // Class III : 9 cross products + // Cool trick: always perform the full test for first level, regardless of settings. + // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! + if(mFullBoxBoxTest || mNbBVBVTests==1) + { + t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2]; t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 + t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2]; t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 + t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2]; t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 + t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0]; t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 + t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0]; t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 + t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0]; t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 + t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1]; t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 + t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1]; t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 + t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1]; t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 + } + return TRUE; +} + +//! A dedicated version when one box is constant +inline_ BOOL OBBCollider::BoxBoxOverlap(const Point& extents, const Point& center) +{ + // Stats + mNbVolumeBVTests++; + + float t,t2; + + // Class I : A's basis vectors + float Tx = mTBoxToModel.x - center.x; t = extents.x + mBBx1; if(GREATER(Tx, t)) return FALSE; + float Ty = mTBoxToModel.y - center.y; t = extents.y + mBBy1; if(GREATER(Ty, t)) return FALSE; + float Tz = mTBoxToModel.z - center.z; t = extents.z + mBBz1; if(GREATER(Tz, t)) return FALSE; + + // Class II : B's basis vectors + t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2]; + t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2]; + t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2]; + t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z; + if(GREATER(t, t2)) return FALSE; + + // Class III : 9 cross products + // Cool trick: always perform the full test for first level, regardless of settings. + // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! + if(mFullBoxBoxTest || mNbVolumeBVTests==1) + { + t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2]; t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 + t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2]; t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 + t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2]; t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 + t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0]; t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 + t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0]; t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 + t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0]; t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 + t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1]; t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 + t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1]; t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 + t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1]; t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 + } + return TRUE; +} + +//! A special version for 2 axis-aligned boxes +inline_ BOOL AABBCollider::AABBAABBOverlap(const Point& extents, const Point& center) +{ + // Stats + mNbVolumeBVTests++; + + float tx = mBox.mCenter.x - center.x; float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex)) return FALSE; + float ty = mBox.mCenter.y - center.y; float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey)) return FALSE; + float tz = mBox.mCenter.z - center.z; float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez)) return FALSE; + + return TRUE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_Collider.cpp b/libs/ode-0.16.1/OPCODE/OPC_Collider.cpp new file mode 100644 index 0000000..f41fc36 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Collider.cpp @@ -0,0 +1,54 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base collider class. + * \file OPC_Collider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains the abstract class for colliders. + * + * \class Collider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Collider::Collider() : + mFlags (0), + mCurrentModel (null), + mIMesh (null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Collider::~Collider() +{ +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_Collider.h b/libs/ode-0.16.1/OPCODE/OPC_Collider.h new file mode 100644 index 0000000..d718e02 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Collider.h @@ -0,0 +1,176 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base collider class. + * \file OPC_Collider.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_COLLIDER_H__ +#define __OPC_COLLIDER_H__ + + enum CollisionFlag + { + OPC_FIRST_CONTACT = (1<<0), //!< Report all contacts (false) or only first one (true) + OPC_TEMPORAL_COHERENCE = (1<<1), //!< Use temporal coherence or not + OPC_CONTACT = (1<<2), //!< Final contact status after a collision query + OPC_TEMPORAL_HIT = (1<<3), //!< There has been an early exit due to temporal coherence + OPC_NO_PRIMITIVE_TESTS = (1<<4), //!< Keep or discard primitive-bv tests in leaf nodes (volume-mesh queries) + + OPC_CONTACT_FOUND = OPC_FIRST_CONTACT | OPC_CONTACT, + OPC_TEMPORAL_CONTACT = OPC_TEMPORAL_HIT | OPC_CONTACT, + + OPC_FORCE_DWORD = 0x7fffffff + }; + + class OPCODE_API Collider + { + public: + // Constructor / Destructor + Collider(); + virtual ~Collider(); + + // Collision report + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the last collision status after a collision query. + * \return true if a collision occured + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL GetContactStatus() const { return mFlags & OPC_CONTACT; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the "first contact" mode. + * \return true if "first contact" mode is on + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL FirstContactEnabled() const { return mFlags & OPC_FIRST_CONTACT; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the temporal coherence mode. + * \return true if temporal coherence is on + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL TemporalCoherenceEnabled() const { return mFlags & OPC_TEMPORAL_COHERENCE; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks a first contact has already been found. + * \return true if a first contact has been found and we can stop a query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL ContactFound() const { return (mFlags&OPC_CONTACT_FOUND)==OPC_CONTACT_FOUND; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks there's been an early exit due to temporal coherence; + * \return true if a temporal hit has occured + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL TemporalHit() const { return mFlags & OPC_TEMPORAL_HIT; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks primitive tests are enabled; + * \return true if primitive tests must be skipped + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL SkipPrimitiveTests() const { return mFlags & OPC_NO_PRIMITIVE_TESTS; } + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Reports all contacts (false) or first contact only (true) + * \param flag [in] true for first contact, false for all contacts + * \see SetTemporalCoherence(bool flag) + * \see ValidateSettings() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFirstContact(bool flag) + { + if(flag) mFlags |= OPC_FIRST_CONTACT; + else mFlags &= ~OPC_FIRST_CONTACT; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Enable/disable temporal coherence. + * \param flag [in] true to enable temporal coherence, false to discard it + * \see SetFirstContact(bool flag) + * \see ValidateSettings() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetTemporalCoherence(bool flag) + { + if(flag) mFlags |= OPC_TEMPORAL_COHERENCE; + else mFlags &= ~OPC_TEMPORAL_COHERENCE; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Enable/disable primitive tests. + * \param flag [in] true to enable primitive tests, false to discard them + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetPrimitiveTests(bool flag) + { + if(!flag) mFlags |= OPC_NO_PRIMITIVE_TESTS; + else mFlags &= ~OPC_NO_PRIMITIVE_TESTS; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual const char* ValidateSettings() = 0; + + protected: + udword mFlags; //!< Bit flags + const BaseModel* mCurrentModel; //!< Current model for collision query (owner of touched faces) + // User mesh interface + const MeshInterface* mIMesh; //!< User-defined mesh interface + + // Internal methods + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups current collision model + * \param model [in] current collision model + * \return TRUE if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL Setup(const BaseModel* model) + { + // Keep track of current model + mCurrentModel = model; + if(!mCurrentModel) return FALSE; + + mIMesh = model->GetMeshInterface(); + return mIMesh!=null; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Initializes a query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual inline_ void InitQuery() { mFlags &= ~OPC_TEMPORAL_CONTACT; } + }; + +#endif // __OPC_COLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_Common.cpp b/libs/ode-0.16.1/OPCODE/OPC_Common.cpp new file mode 100644 index 0000000..5b9a9c8 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Common.cpp @@ -0,0 +1,48 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains common classes & defs used in OPCODE. + * \file OPC_Common.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * An AABB dedicated to collision detection. + * We don't use the generic AABB class included in ICE, since it can be a Min/Max or a Center/Extents one (depends + * on compilation flags). Since the Center/Extents model is more efficient in collision detection, it was worth + * using an extra special class. + * + * \class CollisionAABB + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A quantized AABB. + * Center/Extent model, using 16-bits integers. + * + * \class QuantizedAABB + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; diff --git a/libs/ode-0.16.1/OPCODE/OPC_Common.h b/libs/ode-0.16.1/OPCODE/OPC_Common.h new file mode 100644 index 0000000..f134990 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Common.h @@ -0,0 +1,101 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains common classes & defs used in OPCODE. + * \file OPC_Common.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_COMMON_H__ +#define __OPC_COMMON_H__ + +// [GOTTFRIED]: Just a small change for readability. +#ifdef OPC_CPU_COMPARE + #define GREATER(x, y) AIR(x) > IR(y) +#else + #define GREATER(x, y) fabsf(x) > (y) +#endif + + class OPCODE_API CollisionAABB + { + public: + //! Constructor + inline_ CollisionAABB() {} + //! Constructor + inline_ CollisionAABB(const AABB& b) { b.GetCenter(mCenter); b.GetExtents(mExtents); } + //! Destructor + inline_ ~CollisionAABB() {} + + //! Get min point of the box + inline_ void GetMin(Point& min) const { min = mCenter - mExtents; } + //! Get max point of the box + inline_ void GetMax(Point& max) const { max = mCenter + mExtents; } + + //! Get component of the box's min point along a given axis + inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } + //! Get component of the box's max point along a given axis + inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Setups an AABB from min & max vectors. + * \param min [in] the min point + * \param max [in] the max point + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetMinMax(const Point& min, const Point& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks a box is inside another box. + * \param box [in] the other box + * \return true if current box is inside input box + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ BOOL IsInside(const CollisionAABB& box) const + { + if(box.GetMin(0)>GetMin(0)) return FALSE; + if(box.GetMin(1)>GetMin(1)) return FALSE; + if(box.GetMin(2)>GetMin(2)) return FALSE; + if(box.GetMax(0)<GetMax(0)) return FALSE; + if(box.GetMax(1)<GetMax(1)) return FALSE; + if(box.GetMax(2)<GetMax(2)) return FALSE; + return TRUE; + } + + Point mCenter; //!< Box center + Point mExtents; //!< Box extents + }; + + class OPCODE_API QuantizedAABB + { + public: + //! Constructor + inline_ QuantizedAABB() {} + //! Destructor + inline_ ~QuantizedAABB() {} + + sword mCenter[3]; //!< Quantized center + uword mExtents[3]; //!< Quantized extents + }; + + //! Quickly rotates & translates a vector + inline_ void TransformPoint(Point& dest, const Point& source, const Matrix3x3& rot, const Point& trans) + { + dest.x = trans.x + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; + dest.y = trans.y + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; + dest.z = trans.z + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; + } + +#endif //__OPC_COMMON_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_HybridModel.cpp b/libs/ode-0.16.1/OPCODE/OPC_HybridModel.cpp new file mode 100644 index 0000000..509c1b6 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_HybridModel.cpp @@ -0,0 +1,467 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for hybrid models. + * \file OPC_HybridModel.cpp + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * An hybrid collision model. + * + * The problem : + * + * Opcode really shines for mesh-mesh collision, especially when meshes are deeply overlapping + * (it typically outperforms RAPID in those cases). + * + * Unfortunately this is not the typical scenario in games. + * + * For close-proximity cases, especially for volume-mesh queries, it's relatively easy to run faster + * than Opcode, that suffers from a relatively high setup time. + * + * In particular, Opcode's "vanilla" trees in those cases -can- run faster. They can also use -less- + * memory than the optimized ones, when you let the system stop at ~10 triangles / leaf for example + * (i.e. when you don't use "complete" trees). However, those trees tend to fragment memory quite a + * lot, increasing cache misses : since they're not "complete", we can't predict the final number of + * nodes and we have to allocate nodes on-the-fly. For the same reasons we can't use Opcode's "optimized" + * trees here, since they rely on a known layout to perform the "optimization". + * + * Hybrid trees : + * + * Hybrid trees try to combine best of both worlds : + * + * - they use a maximum limit of 16 triangles/leaf. "16" is used so that we'll be able to save the + * number of triangles using 4 bits only. + * + * - they're still "complete" trees thanks to a two-passes building phase. First we create a "vanilla" + * AABB-tree with Opcode, limited to 16 triangles/leaf. Then we create a *second* vanilla tree, this + * time using the leaves of the first one. The trick is : this second tree is now "complete"... so we + * can further transform it into an Opcode's optimized tree. + * + * - then we run the collision queries on that standard Opcode tree. The only difference is that leaf + * nodes contain indices to leaf nodes of another tree. Also, we have to skip all primitive tests in + * Opcode optimized trees, since our leaves don't contain triangles anymore. + * + * - finally, for each collided leaf, we simply loop through 16 triangles max, and collide them with + * the bounding volume used in the query (we only support volume-vs-mesh queries here, not mesh-vs-mesh) + * + * All of that is wrapped in this "hybrid model" that contains the minimal data required for this to work. + * It's a mix between old "vanilla" trees, and old "optimized" trees. + * + * Extra advantages: + * + * - If we use them for dynamic models, we're left with a very small number of leaf nodes to refit. It + * might be a bit faster since we have less nodes to write back. + * + * - In rigid body simulation, using temporal coherence and sleeping objects greatly reduce the actual + * influence of one tree over another (i.e. the speed difference is often invisible). So memory is really + * the key element to consider, and in this regard hybrid trees are just better. + * + * Information to take home: + * - they use less ram + * - they're not slower (they're faster or slower depending on cases, overall there's no significant + * difference *as long as objects don't interpenetrate too much* - in which case Opcode's optimized trees + * are still notably faster) + * + * \class HybridModel + * \author Pierre Terdiman + * \version 1.3 + * \date May, 18, 2003 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridModel::HybridModel() : + mNbLeaves (0), + mTriangles (null), + mNbPrimitives (0), + mIndices (null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridModel::~HybridModel() +{ + Release(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases everything. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void HybridModel::Release() +{ + ReleaseBase(); + DELETEARRAY(mIndices); + DELETEARRAY(mTriangles); + mNbLeaves = 0; + mNbPrimitives = 0; +} + + struct Internal + { + Internal() + { + mNbLeaves = 0; + mLeaves = null; + mTriangles = null; + mBase = null; + } + ~Internal() + { + DELETEARRAY(mLeaves); + } + + udword mNbLeaves; + AABB* mLeaves; + LeafTriangles* mTriangles; + const dTriIndex* mBase; + }; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool HybridModel::Build(const OPCODECREATE& create) +{ + // 1) Checkings + if(!create.mIMesh || !create.mIMesh->IsValid()) return false; + + // Look for degenerate faces. + //udword NbDegenerate = create.mIMesh->CheckTopology(); + //if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); + // We continue nonetheless.... + + Release(); // Make sure previous tree has been discarded + + // 1-1) Setup mesh interface automatically + SetMeshInterface(create.mIMesh); + + bool Status = false; + AABBTree* LeafTree = null; + Internal Data; + + // 2) Build a generic AABB Tree. + mSource = new AABBTree; + CHECKALLOC(mSource); + + // 2-1) Setup a builder. Our primitives here are triangles from input mesh, + // so we use an AABBTreeOfTrianglesBuilder..... + { + AABBTreeOfTrianglesBuilder TB; + TB.mIMesh = create.mIMesh; + TB.mNbPrimitives = create.mIMesh->GetNbTriangles(); + TB.mSettings = create.mSettings; + TB.mSettings.mLimit = 16; // ### Hardcoded, but maybe we could let the user choose 8 / 16 / 32 ... + if(!mSource->Build(&TB)) goto FreeAndExit; + } + + // 2-2) Here's the trick : create *another* AABB tree using the leaves of the first one (which are boxes, this time) + struct Local + { + // A callback to count leaf nodes + static bool CountLeaves(const AABBTreeNode* current, udword /*depth*/, void* user_data) + { + if(current->IsLeaf()) + { + Internal* Data = (Internal*)user_data; + Data->mNbLeaves++; + } + return true; + } + + // A callback to setup leaf nodes in our internal structures + static bool SetupLeafData(const AABBTreeNode* current, udword /*depth*/, void* user_data) + { + if(current->IsLeaf()) + { + Internal* Data = (Internal*)user_data; + + // Get current leaf's box + Data->mLeaves[Data->mNbLeaves] = *current->GetAABB(); + + // Setup leaf data + udword Index = udword((size_t(current->GetPrimitives()) - size_t(Data->mBase)) / sizeof(udword)); + Data->mTriangles[Data->mNbLeaves].SetData(current->GetNbPrimitives(), Index); + + Data->mNbLeaves++; + } + return true; + } + }; + + // Walk the tree & count number of leaves + Data.mNbLeaves = 0; + mSource->Walk(Local::CountLeaves, &Data); + mNbLeaves = Data.mNbLeaves; // Keep track of it + + // Special case for 1-leaf meshes + if(mNbLeaves==1) + { + mModelCode |= OPC_SINGLE_NODE; + Status = true; + goto FreeAndExit; + } + + // Allocate our structures + Data.mLeaves = new AABB[Data.mNbLeaves]; CHECKALLOC(Data.mLeaves); + mTriangles = new LeafTriangles[Data.mNbLeaves]; CHECKALLOC(mTriangles); + + // Walk the tree again & setup leaf data + Data.mTriangles = mTriangles; + Data.mBase = mSource->GetIndices(); + Data.mNbLeaves = 0; // Reset for incoming walk + mSource->Walk(Local::SetupLeafData, &Data); + + // Handle source indices + { + bool MustKeepIndices = true; + if(create.mCanRemap) + { + // We try to get rid of source indices (saving more ram!) by reorganizing triangle arrays... + // Remap can fail when we use callbacks => keep track of indices in that case (it still + // works, only using more memory) + if(create.mIMesh->RemapClient(mSource->GetNbPrimitives(), mSource->GetIndices())) + { + MustKeepIndices = false; + } + } + + if(MustKeepIndices) + { + // Keep track of source indices (from vanilla tree) + mNbPrimitives = mSource->GetNbPrimitives(); + mIndices = new udword[mNbPrimitives]; + CopyMemory(mIndices, mSource->GetIndices(), mNbPrimitives*sizeof(udword)); + } + } + + // Now, create our optimized tree using previous leaf nodes + LeafTree = new AABBTree; + CHECKALLOC(LeafTree); + { + AABBTreeOfAABBsBuilder TB; // Now using boxes ! + TB.mSettings = create.mSettings; + TB.mSettings.mLimit = 1; // We now want a complete tree so that we can "optimize" it + TB.mNbPrimitives = Data.mNbLeaves; + TB.mAABBArray = Data.mLeaves; + if(!LeafTree->Build(&TB)) goto FreeAndExit; + } + + // 3) Create an optimized tree according to user-settings + if(!CreateTree(create.mNoLeaf, create.mQuantized)) goto FreeAndExit; + + // 3-2) Create optimized tree + if(!mTree->Build(LeafTree)) goto FreeAndExit; + + // Finally ok... + Status = true; + +FreeAndExit: // Allow me this one... + DELETESINGLE(LeafTree); + + // 3-3) Delete generic tree if needed + if(!create.mKeepOriginal) DELETESINGLE(mSource); + + return Status; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword HybridModel::GetUsedBytes() const +{ + udword UsedBytes = 0; + if(mTree) UsedBytes += mTree->GetUsedBytes(); + if(mIndices) UsedBytes += mNbPrimitives * sizeof(udword); // mIndices + if(mTriangles) UsedBytes += mNbLeaves * sizeof(LeafTriangles); // mTriangles + return UsedBytes; +} + +inline_ void ComputeMinMax(Point& min, Point& max, const VertexPointers& vp) +{ + // Compute triangle's AABB = a leaf box +#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much + min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + + min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + + min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); + max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); +#else + min = *vp.Vertex[0]; + max = *vp.Vertex[0]; + min.Min(*vp.Vertex[1]); + max.Max(*vp.Vertex[1]); + min.Min(*vp.Vertex[2]); + max.Max(*vp.Vertex[2]); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool HybridModel::Refit() +{ + if(!mIMesh) return false; + if(!mTree) return false; + + if(IsQuantized()) return false; + if(HasLeafNodes()) return false; + + const LeafTriangles* LT = GetLeafTriangles(); + const udword* Indices = GetIndices(); + + // Bottom-up update + VertexPointers VP; + ConversionArea VC; + Point Min,Max; + Point Min_,Max_; + udword Index = mTree->GetNbNodes(); + AABBNoLeafNode* Nodes = const_cast<AABBNoLeafNode *>(static_cast<const AABBNoLeafNode *>(static_cast<AABBNoLeafTree *>(mTree)->GetNodes())); + while(Index--) + { + AABBNoLeafNode& Current = Nodes[Index]; + + if(Current.HasPosLeaf()) + { + const LeafTriangles& CurrentLeaf = LT[Current.GetPosPrimitive()]; + + Min.SetPlusInfinity(); + Max.SetMinusInfinity(); + + Point TmpMin, TmpMax; + + // 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--) + { + mIMesh->GetTriangle(VP, *T++, VC); + ComputeMinMax(TmpMin, TmpMax, VP); + Min.Min(TmpMin); + Max.Max(TmpMax); + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + mIMesh->GetTriangle(VP, BaseIndex++, VC); + ComputeMinMax(TmpMin, TmpMax, VP); + Min.Min(TmpMin); + Max.Max(TmpMax); + } + } + } + else + { + const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; + CurrentBox.GetMin(Min); + CurrentBox.GetMax(Max); + } + + if(Current.HasNegLeaf()) + { + const LeafTriangles& CurrentLeaf = LT[Current.GetNegPrimitive()]; + + Min_.SetPlusInfinity(); + Max_.SetMinusInfinity(); + + Point TmpMin, TmpMax; + + // 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--) + { + mIMesh->GetTriangle(VP, *T++, VC); + ComputeMinMax(TmpMin, TmpMax, VP); + Min_.Min(TmpMin); + Max_.Max(TmpMax); + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + mIMesh->GetTriangle(VP, BaseIndex++, VC); + ComputeMinMax(TmpMin, TmpMax, VP); + Min_.Min(TmpMin); + Max_.Max(TmpMax); + } + } + } + else + { + const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; + CurrentBox.GetMin(Min_); + CurrentBox.GetMax(Max_); + } +#ifdef OPC_USE_FCOMI + Min.x = FCMin2(Min.x, Min_.x); + Max.x = FCMax2(Max.x, Max_.x); + Min.y = FCMin2(Min.y, Min_.y); + Max.y = FCMax2(Max.y, Max_.y); + Min.z = FCMin2(Min.z, Min_.z); + Max.z = FCMax2(Max.z, Max_.z); +#else + Min.Min(Min_); + Max.Max(Max_); +#endif + Current.mAABB.SetMinMax(Min, Max); + } + return true; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_HybridModel.h b/libs/ode-0.16.1/OPCODE/OPC_HybridModel.h new file mode 100644 index 0000000..c7eb59d --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_HybridModel.h @@ -0,0 +1,106 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for hybrid models. + * \file OPC_HybridModel.h + * \author Pierre Terdiman + * \date May, 18, 2003 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_HYBRIDMODEL_H__ +#define __OPC_HYBRIDMODEL_H__ + + //! Leaf descriptor + struct LeafTriangles + { + udword Data; //!< Packed data + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets number of triangles in the leaf. + * \return number of triangles N, with 0 < N <= 16 + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbTriangles() const { return (Data & 15)+1; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets triangle index for this leaf. Indexed model's array of indices retrieved with HybridModel::GetIndices() + * \return triangle index + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetTriangleIndex() const { return Data>>4; } + inline_ void SetData(udword nb, udword index) { ASSERT(nb>0 && nb<=16); nb--; Data = (index<<4)|(nb&15); } + }; + + class OPCODE_API HybridModel : public BaseModel + { + public: + // Constructor/Destructor + HybridModel(); + virtual ~HybridModel(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) bool Build(const OPCODECREATE& create); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) udword GetUsedBytes() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the collision model. This can be used to handle dynamic meshes. Usage is: + * 1. modify your mesh vertices (keep the topology constant!) + * 2. refit the tree (call this method) + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) bool Refit(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets array of triangles. + * \return array of triangles + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const LeafTriangles* GetLeafTriangles() const { return mTriangles; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets array of indices. + * \return array of indices + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const udword* GetIndices() const { return mIndices; } + + private: + udword mNbLeaves; //!< Number of leaf nodes in the model + LeafTriangles* mTriangles; //!< Array of mNbLeaves leaf descriptors + udword mNbPrimitives; //!< Number of primitives in the model + udword* mIndices; //!< Array of primitive indices + + // Internal methods + void Release(); + }; + +#endif // __OPC_HYBRIDMODEL_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_IceHook.h b/libs/ode-0.16.1/OPCODE/OPC_IceHook.h new file mode 100644 index 0000000..4fc6c8a --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_IceHook.h @@ -0,0 +1,80 @@ + +// Should be included by Opcode.h if needed + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_ICEHOOK_H__ +#define __OPC_ICEHOOK_H__ + + #define ICE_DONT_CHECK_COMPILER_OPTIONS + + // From Windows... + typedef int BOOL; + #ifndef FALSE + #define FALSE 0 + #endif + + #ifndef TRUE + #define TRUE 1 + #endif + + #include <stdio.h> + #include <stdlib.h> + #include <assert.h> + #include <string.h> + #include <float.h> + #include <math.h> + + #ifndef ASSERT + #define ASSERT(exp) {} + #endif + #define ICE_COMPILE_TIME_ASSERT(exp) extern char ICE_Dummy[ (exp) ? 1 : -1 ] + + #define Log {} + #define SetIceError(a,b) false + #define EC_OUTOFMEMORY "Out of memory" + + extern void OPCODE_NORETURN IceAbort(); + + #include "Ice/IcePreprocessor.h" + + #undef ICECORE_API + #define ICECORE_API OPCODE_API + + #include "Ice/IceTypes.h" + #include "Ice/IceFPU.h" + #include "Ice/IceMemoryMacros.h" + + namespace IceCore + { + #include "Ice/IceUtils.h" + #include "Ice/IceContainer.h" + #include "Ice/IcePairs.h" + #include "Ice/IceRevisitedRadix.h" + #include "Ice/IceRandom.h" + } + using namespace IceCore; + + #define ICEMATHS_API OPCODE_API + namespace IceMaths + { + #include "Ice/IceAxes.h" + #include "Ice/IcePoint.h" + #include "Ice/IceHPoint.h" + #include "Ice/IceMatrix3x3.h" + #include "Ice/IceMatrix4x4.h" + #include "Ice/IcePlane.h" + #include "Ice/IceRay.h" + #include "Ice/IceIndexedTriangle.h" + #include "Ice/IceTriangle.h" + #include "Ice/IceTriList.h" + #include "Ice/IceAABB.h" + #include "Ice/IceOBB.h" + #include "Ice/IceBoundingSphere.h" + #include "Ice/IceSegment.h" + #include "Ice/IceLSS.h" + } + using namespace IceMaths; + + +#endif // __OPC_ICEHOOK_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h new file mode 100644 index 0000000..c6ba9d3 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h @@ -0,0 +1,525 @@ + +// 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; + +#if 0 + // 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; + } + } +#endif + + 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<mRadius2) return TRUE; + + return FALSE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.cpp new file mode 100644 index 0000000..fd47bcc --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.cpp @@ -0,0 +1,725 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an LSS collider. + * \file OPC_LSSCollider.cpp + * \author Pierre Terdiman + * \date December, 28, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a lss-vs-tree collider. + * + * \class LSSCollider + * \author Pierre Terdiman + * \version 1.3 + * \date December, 28, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +#include "OPC_LSSAABBOverlap.h" +#include "OPC_LSSTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + /* Set contact status */ \ + mFlags |= flag; \ + mTouchedPrimitives->Add(udword(prim_index)); + +//! LSS-triangle overlap test +#define LSS_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ + \ + /* Perform LSS-tri overlap test */ \ + if(LSSTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +LSSCollider::LSSCollider() +{ +// mCenter.Zero(); +// mRadius2 = 0.0f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +LSSCollider::~LSSCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] an lss cache + * \param lss [in] collision lss in local space + * \param model [in] Opcode model to collide with + * \param worldl [in] lss world matrix, or null + * \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 LSSCollider::Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl, const Matrix4x4* worldm) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, lss, worldl, worldm)) 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 + * - setup matrices + * - check temporal coherence + * + * \param cache [in/out] an lss cache + * \param lss [in] lss in local space + * \param worldl [in] lss world matrix, or null + * \param worldm [in] model's world matrix, or null + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL LSSCollider::InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl, const Matrix4x4* worldm) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Compute LSS in model space: + // - Precompute R^2 + mRadius2 = lss.mRadius * lss.mRadius; + // - Compute segment + mSeg.mP0 = lss.mP0; + mSeg.mP1 = lss.mP1; + // -> to world space + if(worldl) + { + mSeg.mP0 *= *worldl; + mSeg.mP1 *= *worldl; + } + // -> to model space + if(worldm) + { + // Invert model matrix + Matrix4x4 InvWorldM; + InvertPRMatrix(InvWorldM, *worldm); + + mSeg.mP0 *= InvWorldM; + mSeg.mP1 *= InvWorldM; + } + + // 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 LSS (and set contact status if needed) + LSS_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 LSS (and set contact status if needed) + LSS_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 LSS N(ew) against the previous fat LSS P(revious): + + // ### rewrite this + + LSS Test(mSeg, lss.mRadius); // in model space + LSS Previous(cache.Previous, sqrtf(cache.Previous.mRadius)); + +// if(cache.Previous.Contains(Test)) + if(IsCacheValid(cache) && Previous.Contains(Test)) + { + // - 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 sphere so that coherence will work for subsequent frames + mRadius2 *= cache.FatCoeff; +// mRadius2 = (lss.mRadius * cache.FatCoeff)*(lss.mRadius * cache.FatCoeff); + + + // Update cache with query data (signature for cached faces) + cache.Previous.mP0 = mSeg.mP0; + cache.Previous.mP1 = mSeg.mP1; + cache.Previous.mRadius = mRadius2; + } + } + } + else + { + // Here we don't use temporal coherence => do a normal query + mTouchedPrimitives->Reset(); + } + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for vanilla AABB trees. + * \param cache [in/out] an lss cache + * \param lss [in] collision lss in world space + * \param tree [in] AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool LSSCollider::Collide(LSSCache& cache, const LSS& lss, 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, lss)) return true; + + // Perform collision query + _Collide(tree); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the LSS 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 LSS contains the whole box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL LSSCollider::LSSContainsBox(const Point& bc, const Point& be) +{ + // Not implemented + return FALSE; +} + +#define TEST_BOX_IN_LSS(center, extents) \ + if(LSSContainsBox(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 LSSCollider::_Collide(const AABBCollisionNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->IsLeaf()) + { + LSS_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 LSSCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(Center, Extents) + + if(node->IsLeaf()) + { + LSS_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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_Collide(const AABBNoLeafNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { LSS_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 LSSCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) +{ + // Perform LSS-AABB overlap test + if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(Center, Extents) + + if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { LSS_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 LSSCollider::_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 LSS-AABB overlap test + if(!LSSAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_LSS(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 LSSCollider::_Collide(const AABBTreeNode* node) +{ + // Perform LSS-AABB overlap test + Point Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!LSSAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf() || LSSContainsBox(Center, Extents)) + { + mFlags |= OPC_CONTACT; + mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _Collide(node->GetPos()); + _Collide(node->GetNeg()); + } +} + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridLSSCollider::HybridLSSCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridLSSCollider::~HybridLSSCollider() +{ +} + +bool HybridLSSCollider::Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl, 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, lss, worldl, 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 + for(udword i=0;i<Nb;i++) + { + LSS_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++; + LSS_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + LSS_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h b/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h new file mode 100644 index 0000000..b4d0893 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_LSSCollider.h @@ -0,0 +1,99 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an LSS collider. + * \file OPC_LSSCollider.h + * \author Pierre Terdiman + * \date December, 28, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_LSSCOLLIDER_H__ +#define __OPC_LSSCOLLIDER_H__ + + struct OPCODE_API LSSCache : VolumeCache + { + LSSCache() + { + Previous.mP0 = Point(0.0f, 0.0f, 0.0f); + Previous.mP1 = Point(0.0f, 0.0f, 0.0f); + Previous.mRadius = 0.0f; + FatCoeff = 1.1f; + } + + // Cached faces signature + LSS Previous; //!< LSS used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< mRadius2 multiplier used to create a fat LSS + }; + + class OPCODE_API LSSCollider : public VolumeCollider + { + public: + // Constructor / Destructor + LSSCollider(); + virtual ~LSSCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] an lss cache + * \param lss [in] collision lss in local space + * \param model [in] Opcode model to collide with + * \param worldl [in] lss world matrix, or null + * \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 Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + // + bool Collide(LSSCache& cache, const LSS& lss, const AABBTree* tree); + protected: + // LSS in model space + Segment mSeg; //!< Segment + float mRadius2; //!< LSS radius squared + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _Collide(const AABBTreeNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL LSSContainsBox(const Point& bc, const Point& be); + inline_ BOOL LSSAABBOverlap(const Point& center, const Point& extents); + inline_ BOOL LSSTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); + // Init methods + BOOL InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridLSSCollider : public LSSCollider + { + public: + // Constructor / Destructor + HybridLSSCollider(); + virtual ~HybridLSSCollider(); + + bool Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_LSSCOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_LSSTriOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_LSSTriOverlap.h new file mode 100644 index 0000000..f1d17e4 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_LSSTriOverlap.h @@ -0,0 +1,679 @@ +// Following code from Magic-Software (http://www.magic-software.com/) +// A bit modified for Opcode + +static const float gs_fTolerance = 1e-05f; + +static float OPC_PointTriangleSqrDist(const Point& point, const Point& p0, const Point& p1, const Point& p2) +{ + // Hook + Point TriEdge0 = p1 - p0; + Point TriEdge1 = p2 - p0; + + Point kDiff = p0 - point; + float fA00 = TriEdge0.SquareMagnitude(); + float fA01 = TriEdge0 | TriEdge1; + float fA11 = TriEdge1.SquareMagnitude(); + float fB0 = kDiff | TriEdge0; + float fB1 = kDiff | TriEdge1; + float fC = kDiff.SquareMagnitude(); + float fDet = fabsf(fA00*fA11 - fA01*fA01); + float fS = fA01*fB1-fA11*fB0; + float fT = fA01*fB0-fA00*fB1; + float fSqrDist; + + if(fS + fT <= fDet) + { + if(fS < 0.0f) + { + if(fT < 0.0f) // region 4 + { + if(fB0 < 0.0f) + { + if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + if(fB1 >= 0.0f) fSqrDist = fC; + else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + else // region 3 + { + if(fB1 >= 0.0f) fSqrDist = fC; + else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + else if(fT < 0.0f) // region 5 + { + if(fB0 >= 0.0f) fSqrDist = fC; + else if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else // region 0 + { + // minimum at interior point + if(fDet==0.0f) + { + fSqrDist = MAX_FLOAT; + } + else + { + float fInvDet = 1.0f/fDet; + fS *= fInvDet; + fT *= fInvDet; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + } + else + { + float fTmp0, fTmp1, fNumer, fDenom; + + if(fS < 0.0f) // region 2 + { + fTmp0 = fA01 + fB0; + fTmp1 = fA11 + fB1; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { + fSqrDist = fA00+2.0f*fB0+fC; + } + else + { + fS = fNumer/fDenom; + fT = 1.0f - fS; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + else + { + if(fTmp1 <= 0.0f) fSqrDist = fA11+2.0f*fB1+fC; + else if(fB1 >= 0.0f) fSqrDist = fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + else if(fT < 0.0f) // region 6 + { + fTmp0 = fA01 + fB1; + fTmp1 = fA00 + fB0; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { + fSqrDist = fA11+2.0f*fB1+fC; + } + else + { + fT = fNumer/fDenom; + fS = 1.0f - fT; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + else + { + if(fTmp1 <= 0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(fB0 >= 0.0f) fSqrDist = fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + } + else // region 1 + { + fNumer = fA11 + fB1 - fA01 - fB0; + if(fNumer <= 0.0f) + { + fSqrDist = fA11+2.0f*fB1+fC; + } + else + { + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { + fSqrDist = fA00+2.0f*fB0+fC; + } + else + { + fS = fNumer/fDenom; + fT = 1.0f - fS; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + } + } + } + return fabsf(fSqrDist); +} + +static float OPC_SegmentSegmentSqrDist(const Segment& rkSeg0, const Segment& rkSeg1) +{ + // Hook + Point rkSeg0Direction = rkSeg0.ComputeDirection(); + Point rkSeg1Direction = rkSeg1.ComputeDirection(); + + Point kDiff = rkSeg0.mP0 - rkSeg1.mP0; + float fA00 = rkSeg0Direction.SquareMagnitude(); + float fA01 = -rkSeg0Direction.Dot(rkSeg1Direction); + float fA11 = rkSeg1Direction.SquareMagnitude(); + float fB0 = kDiff.Dot(rkSeg0Direction); + float fC = kDiff.SquareMagnitude(); + float fDet = fabsf(fA00*fA11-fA01*fA01); + + float fB1, fS, fT, fSqrDist, fTmp; + + if(fDet>=gs_fTolerance) + { + // line segments are not parallel + fB1 = -kDiff.Dot(rkSeg1Direction); + fS = fA01*fB1-fA11*fB0; + fT = fA01*fB0-fA00*fB1; + + if(fS >= 0.0f) + { + if(fS <= fDet) + { + if(fT >= 0.0f) + { + if(fT <= fDet) // region 0 (interior) + { + // minimum at two interior points of 3D lines + float fInvDet = 1.0f/fDet; + fS *= fInvDet; + fT *= fInvDet; + fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; + } + else // region 3 (side) + { + fTmp = fA01+fB0; + if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; + else if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); + else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; + } + } + else // region 7 (side) + { + if(fB0>=0.0f) fSqrDist = fC; + else if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + } + else + { + if ( fT >= 0.0 ) + { + if ( fT <= fDet ) // region 1 (side) + { + fTmp = fA01+fB1; + if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); + else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; + } + else // region 2 (corner) + { + fTmp = fA01+fB0; + if ( -fTmp <= fA00 ) + { + if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; + } + else + { + fTmp = fA01+fB1; + if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); + else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; + } + } + } + else // region 8 (corner) + { + if ( -fB0 < fA00 ) + { + if(fB0>=0.0f) fSqrDist = fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + fTmp = fA01+fB1; + if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; + else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); + else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; + } + } + } + } + else + { + if ( fT >= 0.0f ) + { + if ( fT <= fDet ) // region 5 (side) + { + if(fB1>=0.0f) fSqrDist = fC; + else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + else // region 4 (corner) + { + fTmp = fA01+fB0; + if ( fTmp < 0.0f ) + { + if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); + else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; + } + else + { + if(fB1>=0.0f) fSqrDist = fC; + else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + } + else // region 6 (corner) + { + if ( fB0 < 0.0f ) + { + if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; + else fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + if(fB1>=0.0f) fSqrDist = fC; + else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; + else fSqrDist = fB1*(-fB1/fA11)+fC; + } + } + } + } + else + { + // line segments are parallel + if ( fA01 > 0.0f ) + { + // direction vectors form an obtuse angle + if ( fB0 >= 0.0f ) + { + fSqrDist = fC; + } + else if ( -fB0 <= fA00 ) + { + fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + fB1 = -kDiff.Dot(rkSeg1Direction); + fTmp = fA00+fB0; + if ( -fTmp >= fA01 ) + { + fSqrDist = fA00+fA11+fC+2.0f*(fA01+fB0+fB1); + } + else + { + fT = -fTmp/fA01; + fSqrDist = fA00+2.0f*fB0+fC+fT*(fA11*fT+2.0f*(fA01+fB1)); + } + } + } + else + { + // direction vectors form an acute angle + if ( -fB0 >= fA00 ) + { + fSqrDist = fA00+2.0f*fB0+fC; + } + else if ( fB0 <= 0.0f ) + { + fSqrDist = fB0*(-fB0/fA00)+fC; + } + else + { + fB1 = -kDiff.Dot(rkSeg1Direction); + if ( fB0 >= -fA01 ) + { + fSqrDist = fA11+2.0f*fB1+fC; + } + else + { + fT = -fB0/fA01; + fSqrDist = fC+fT*(2.0f*fB1+fA11*fT); + } + } + } + } + return fabsf(fSqrDist); +} + +inline_ float OPC_SegmentRaySqrDist(const Segment& rkSeg0, const Ray& rkSeg1) +{ + return OPC_SegmentSegmentSqrDist(rkSeg0, Segment(rkSeg1.mOrig, rkSeg1.mOrig + rkSeg1.mDir)); +} + +static float OPC_SegmentTriangleSqrDist(const Segment& segment, const Point& p0, const Point& p1, const Point& p2) +{ + // Hook + const Point TriEdge0 = p1 - p0; + const Point TriEdge1 = p2 - p0; + + const Point& rkSegOrigin = segment.GetOrigin(); + Point rkSegDirection = segment.ComputeDirection(); + + Point kDiff = p0 - rkSegOrigin; + float fA00 = rkSegDirection.SquareMagnitude(); + float fA01 = -rkSegDirection.Dot(TriEdge0); + float fA02 = -rkSegDirection.Dot(TriEdge1); + float fA11 = TriEdge0.SquareMagnitude(); + float fA12 = TriEdge0.Dot(TriEdge1); + float fA22 = TriEdge1.Dot(TriEdge1); + float fB0 = -kDiff.Dot(rkSegDirection); + float fB1 = kDiff.Dot(TriEdge0); + float fB2 = kDiff.Dot(TriEdge1); + float fCof00 = fA11*fA22-fA12*fA12; + float fCof01 = fA02*fA12-fA01*fA22; + float fCof02 = fA01*fA12-fA02*fA11; + float fDet = fA00*fCof00+fA01*fCof01+fA02*fCof02; + + Ray kTriSeg; + Point kPt; + float fSqrDist, fSqrDist0; + + if(fabsf(fDet)>=gs_fTolerance) + { + float fCof11 = fA00*fA22-fA02*fA02; + float fCof12 = fA02*fA01-fA00*fA12; + float fCof22 = fA00*fA11-fA01*fA01; + float fInvDet = 1.0f/fDet; + float fRhs0 = -fB0*fInvDet; + float fRhs1 = -fB1*fInvDet; + float fRhs2 = -fB2*fInvDet; + + float fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2; + float fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2; + float fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2; + + if ( fR < 0.0f ) + { + if ( fS+fT <= 1.0f ) + { + if ( fS < 0.0f ) + { + if ( fT < 0.0f ) // region 4m + { + // min on face s=0 or t=0 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 3m + { + // min on face s=0 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + else if ( fT < 0.0f ) // region 5m + { + // min on face t=0 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 0m + { + // min on face r=0 + fSqrDist = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + } + } + else + { + if ( fS < 0.0f ) // region 2m + { + // min on face s=0 or s+t=1 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else if ( fT < 0.0f ) // region 6m + { + // min on face t=0 or s+t=1 or r=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 1m + { + // min on face s+t=1 or r=0 + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + } + else if ( fR <= 1.0f ) + { + if ( fS+fT <= 1.0f ) + { + if ( fS < 0.0f ) + { + if ( fT < 0.0f ) // region 4 + { + // min on face s=0 or t=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 3 + { + // min on face s=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + } + } + else if ( fT < 0.0f ) // region 5 + { + // min on face t=0 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + } + else // region 0 + { + // global minimum is interior, done + fSqrDist = fR*(fA00*fR+fA01*fS+fA02*fT+2.0f*fB0) + +fS*(fA01*fR+fA11*fS+fA12*fT+2.0f*fB1) + +fT*(fA02*fR+fA12*fS+fA22*fT+2.0f*fB2) + +kDiff.SquareMagnitude(); + } + } + else + { + if ( fS < 0.0f ) // region 2 + { + // min on face s=0 or s+t=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else if ( fT < 0.0f ) // region 6 + { + // min on face t=0 or s+t=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 1 + { + // min on face s+t=1 + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + } + } + } + else // fR > 1 + { + if ( fS+fT <= 1.0f ) + { + if ( fS < 0.0f ) + { + if ( fT < 0.0f ) // region 4p + { + // min on face s=0 or t=0 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 3p + { + // min on face s=0 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + else if ( fT < 0.0f ) // region 5p + { + // min on face t=0 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 0p + { + // min face on r=1 + kPt = rkSegOrigin+rkSegDirection; + fSqrDist = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + } + } + else + { + if ( fS < 0.0f ) // region 2p + { + // min on face s=0 or s+t=1 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge1; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else if ( fT < 0.0f ) // region 6p + { + // min on face t=0 or s+t=1 or r=1 + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + else // region 1p + { + // min on face s+t=1 or r=1 + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1-TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + } + } + } + else + { + // segment and triangle are parallel + kTriSeg.mOrig = p0; + kTriSeg.mDir = TriEdge0; + fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); + + kTriSeg.mDir = TriEdge1; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + + kTriSeg.mOrig = p1; + kTriSeg.mDir = TriEdge1 - TriEdge0; + fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + + fSqrDist0 = OPC_PointTriangleSqrDist(rkSegOrigin, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + + kPt = rkSegOrigin+rkSegDirection; + fSqrDist0 = OPC_PointTriangleSqrDist(kPt, p0, p1, p2); + if(fSqrDist0<fSqrDist) fSqrDist = fSqrDist0; + } + return fabsf(fSqrDist); +} + +inline_ BOOL LSSCollider::LSSTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) +{ + // Stats + mNbVolumePrimTests++; + + float s2 = OPC_SegmentTriangleSqrDist(mSeg, vert0, vert1, vert2); + if(s2<mRadius2) return TRUE; + return FALSE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.cpp b/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.cpp new file mode 100644 index 0000000..157464e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.cpp @@ -0,0 +1,393 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a mesh interface. + * \file OPC_MeshInterface.cpp + * \author Pierre Terdiman + * \date November, 27, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This structure holds 3 vertex-pointers. It's mainly used by collision callbacks so that the app doesn't have + * to return 3 vertices to OPCODE (36 bytes) but only 3 pointers (12 bytes). It seems better but I never profiled + * the alternative. + * + * \class VertexPointers + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class is an interface between us and user-defined meshes. Meshes can be defined in a lot of ways, and here we + * try to support most of them. + * + * Basically you have two options: + * - callbacks, if OPC_USE_CALLBACKS is defined in OPC_Settings.h. + * - else pointers. + * + * If using pointers, you can also use strides or not. Strides are used when OPC_USE_STRIDE is defined. + * + * + * CALLBACKS: + * + * Using callbacks is the most generic way to feed OPCODE with your meshes. Indeed, you just have to give + * access to three vertices at the end of the day. It's up to you to fetch them from your database, using + * whatever method you want. Hence your meshes can lie in system memory or AGP, be indexed or not, use 16 + * or 32-bits indices, you can decompress them on-the-fly if needed, etc. On the other hand, a callback is + * called each time OPCODE needs access to a particular triangle, so there might be a slight overhead. + * + * To make things clear: geometry & topology are NOT stored in the collision system, + * in order to save some ram. So, when the system needs them to perform accurate intersection + * tests, you're requested to provide the triangle-vertices corresponding to a given face index. + * + * Ex: + * + * \code + * static void ColCallback(udword triangle_index, VertexPointers& triangle, udword user_data) + * { + * // Get back Mesh0 or Mesh1 (you also can use 2 different callbacks) + * Mesh* MyMesh = (Mesh*)user_data; + * // Get correct triangle in the app-controlled database + * const Triangle* Tri = MyMesh->GetTriangle(triangle_index); + * // Setup pointers to vertices for the collision system + * triangle.Vertex[0] = MyMesh->GetVertex(Tri->mVRef[0]); + * triangle.Vertex[1] = MyMesh->GetVertex(Tri->mVRef[1]); + * triangle.Vertex[2] = MyMesh->GetVertex(Tri->mVRef[2]); + * } + * + * // Setup callbacks + * MeshInterface0->SetCallback(ColCallback, udword(Mesh0)); + * MeshInterface1->SetCallback(ColCallback, udword(Mesh1)); + * \endcode + * + * Of course, you should make this callback as fast as possible. And you're also not supposed + * to modify the geometry *after* the collision trees have been built. The alternative was to + * store the geometry & topology in the collision system as well (as in RAPID) but we have found + * this approach to waste a lot of ram in many cases. + * + * + * POINTERS: + * + * If you're internally using the following canonical structures: + * - a vertex made of three 32-bits floating point values + * - a triangle made of three 32-bits integer vertex references + * ...then you may want to use pointers instead of callbacks. This is the same, except OPCODE will directly + * use provided pointers to access the topology and geometry, without using a callback. It might be faster, + * but probably not as safe. Pointers have been introduced in OPCODE 1.2. + * + * Ex: + * + * \code + * // Setup pointers + * MeshInterface0->SetPointers(Mesh0->GetFaces(), Mesh0->GetVerts()); + * MeshInterface1->SetPointers(Mesh1->GetFaces(), Mesh1->GetVerts()); + * \endcode + * + * + * STRIDES: + * + * If your vertices are D3D-like entities interleaving a position, a normal and/or texture coordinates + * (i.e. if your vertices are FVFs), you might want to use a vertex stride to skip extra data OPCODE + * doesn't need. Using a stride shouldn't be notably slower than not using it, but it might increase + * cache misses. Please also note that you *shouldn't* read from AGP or video-memory buffers ! + * + * + * In any case, compilation flags are here to select callbacks/pointers/strides at compile time, so + * choose what's best for your application. All of this has been wrapped into this MeshInterface. + * + * \class MeshInterface + * \author Pierre Terdiman + * \version 1.3 + * \date November, 27, 2002 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +MeshInterface::MeshInterface() : + mNbTris (0), + mNbVerts (0), +#ifdef OPC_USE_CALLBACKS + mUserData (null), + mObjCallback (null), + mExUserData (null), + mObjExCallback (null), +#else + #ifdef OPC_USE_STRIDE + mTriStride (sizeof(IndexedTriangle)), + mVertexStride (sizeof(Point)), + mFetchTriangle (&MeshInterface::FetchTriangleFromSingles), + mFetchExTriangle (&MeshInterface::FetchExTriangleFromSingles), + #endif + mTris (null), + mVerts (null) +#endif +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +MeshInterface::~MeshInterface() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the mesh interface is valid, i.e. things have been setup correctly. + * \return true if valid + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::IsValid() const +{ + if(!mNbTris || !mNbVerts) return false; +#ifdef OPC_USE_CALLBACKS + if(!mObjCallback) return false; +#else + if(!mTris || !mVerts) return false; +#endif + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the mesh itself is valid. + * Currently we only look for degenerate faces. + * \return number of degenerate faces + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword MeshInterface::CheckTopology() const +{ + // Check topology. If the model contains degenerate faces, collision report can be wrong in some cases. + // e.g. it happens with the standard MAX teapot. So clean your meshes first... If you don't have a mesh cleaner + // you can try this: www.codercorner.com/Consolidation.zip + + udword NbDegenerate = 0; + + VertexPointers VP; + ConversionArea VC; + + // Using callbacks, we don't have access to vertex indices. Nevertheless we still can check for + // redundant vertex pointers, which cover all possibilities (callbacks/pointers/strides). + for(udword i=0;i<mNbTris;i++) + { + GetTriangle(VP, i, VC); + + if( (VP.Vertex[0]==VP.Vertex[1]) + || (VP.Vertex[1]==VP.Vertex[2]) + || (VP.Vertex[2]==VP.Vertex[0])) NbDegenerate++; + } + + return NbDegenerate; +} + +#ifdef OPC_USE_CALLBACKS +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index. + * \param callback [in] user-defined callback + * \param user_data [in] user-defined data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::SetCallback(RequestCallback callback, void* user_data) +{ + if(!callback) return SetIceError("MeshInterface::SetCallback: callback pointer is null"); + + mObjCallback = callback; + mUserData = user_data; + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** +* Callback control: setups object ex-callback. Must provide triangle-vertices and vertex indice for a given triangle index. +* \param callback [in] user-defined callback +* \param user_data [in] user-defined data +* \return true if success +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::SetExCallback(RequestExCallback callback, void* user_data) +{ +// if(!callback) -- allow nulls + + mObjExCallback = callback; + mExUserData = user_data; + return true; +} +#else +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object. + * \param tris [in] pointer to triangles + * \param verts [in] pointer to vertices + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::SetPointers(const IndexedTriangle* tris, const Point* verts) +{ + if(!tris || !verts) return SetIceError("MeshInterface::SetPointers: pointer is null", null); + + mTris = tris; + mVerts = verts; + return true; +} +#ifdef OPC_USE_STRIDE +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Strides control + * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices. + * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(Point) bytes are used to get vertex position. + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::SetStrides(udword tri_stride, udword vertex_stride) +{ + if(tri_stride<sizeof(IndexedTriangle)) return SetIceError("MeshInterface::SetStrides: invalid triangle stride", null); + if(vertex_stride<sizeof(Point)) return SetIceError("MeshInterface::SetStrides: invalid vertex stride", null); + + mTriStride = tri_stride; + mVertexStride = vertex_stride; + return true; +} +#endif +#endif + +#ifndef OPC_USE_CALLBACKS +#ifdef OPC_USE_STRIDE +void MeshInterface::FetchTriangleFromSingles(VertexPointers& vp, udword index, ConversionArea vc) const +{ + const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride); + + const Point* Verts = GetVerts(); + udword VertexStride = GetVertexStride(); + vp.Vertex[0] = (const Point*)(((ubyte*)Verts) + T->mVRef[0] * VertexStride); + vp.Vertex[1] = (const Point*)(((ubyte*)Verts) + T->mVRef[1] * VertexStride); + vp.Vertex[2] = (const Point*)(((ubyte*)Verts) + T->mVRef[2] * VertexStride); +} + +void MeshInterface::FetchTriangleFromDoubles(VertexPointers& vp, udword index, ConversionArea vc) const +{ + const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride); + + const Point* Verts = GetVerts(); + udword VertexStride = GetVertexStride(); + + for (int i = 0; i < 3; i++){ + const double* v = (const double*)(((ubyte*)Verts) + T->mVRef[i] * VertexStride); + + vc[i].x = (float)v[0]; + vc[i].y = (float)v[1]; + vc[i].z = (float)v[2]; + vp.Vertex[i] = &vc[i]; + } +} + +void MeshInterface::FetchExTriangleFromSingles(VertexPointersEx& vpe, udword index, ConversionArea vc) const +{ + const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride); + + const Point* Verts = GetVerts(); + udword VertexStride = GetVertexStride(); + + dTriIndex VertIndex0 = T->mVRef[0]; + vpe.Index[0] = VertIndex0; + vpe.vp.Vertex[0] = (const Point*)(((ubyte*)Verts) + VertIndex0 * VertexStride); + + dTriIndex VertIndex1 = T->mVRef[1]; + vpe.Index[1] = VertIndex1; + vpe.vp.Vertex[1] = (const Point*)(((ubyte*)Verts) + VertIndex1 * VertexStride); + + dTriIndex VertIndex2 = T->mVRef[2]; + vpe.Index[2] = VertIndex2; + vpe.vp.Vertex[2] = (const Point*)(((ubyte*)Verts) + VertIndex2 * VertexStride); +} + +void MeshInterface::FetchExTriangleFromDoubles(VertexPointersEx& vpe, udword index, ConversionArea vc) const +{ + const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride); + + const Point* Verts = GetVerts(); + udword VertexStride = GetVertexStride(); + + for (int i = 0; i < 3; i++){ + dTriIndex VertIndex = T->mVRef[i]; + vpe.Index[i] = VertIndex; + + const double* v = (const double*)(((ubyte*)Verts) + VertIndex * VertexStride); + vc[i].x = (float)v[0]; + vc[i].y = (float)v[1]; + vc[i].z = (float)v[2]; + vpe.vp.Vertex[i] = &vc[i]; + } +} +#endif +#endif + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Remaps client's mesh according to a permutation. + * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles) + * \param permutation [in] list of triangle indices + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool MeshInterface::RemapClient(udword nb_indices, const dTriIndex* permutation) const +{ + // Checkings + if(!nb_indices || !permutation) return false; + if(nb_indices!=mNbTris) return false; + +#ifdef OPC_USE_CALLBACKS + // We can't really do that using callbacks + return false; +#else + IndexedTriangle* Tmp = new IndexedTriangle[mNbTris]; + CHECKALLOC(Tmp); + + #ifdef OPC_USE_STRIDE + udword Stride = mTriStride; + #else + udword Stride = sizeof(IndexedTriangle); + #endif + + for(udword i=0;i<mNbTris;i++) + { + const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + i * Stride); + Tmp[i] = *T; + } + + for(udword i=0;i<mNbTris;i++) + { + IndexedTriangle* T = (IndexedTriangle*)(((ubyte*)mTris) + i * Stride); + *T = Tmp[permutation[i]]; + } + + DELETEARRAY(Tmp); +#endif + return true; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.h b/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.h new file mode 100644 index 0000000..c404948 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.h @@ -0,0 +1,280 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a mesh interface. + * \file OPC_MeshInterface.h + * \author Pierre Terdiman + * \date November, 27, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_MESHINTERFACE_H__ +#define __OPC_MESHINTERFACE_H__ + + struct VertexPointers + { + const Point* Vertex[3]; + + bool BackfaceCulling(const Point& source) + { + const Point& p0 = *Vertex[0]; + const Point& p1 = *Vertex[1]; + const Point& p2 = *Vertex[2]; + + // Compute normal direction + Point Normal = (p2 - p1)^(p0 - p1); + + // Backface culling + return (Normal | (source - p0)) >= 0.0f; + } + }; + + struct VertexPointersEx + { + VertexPointers vp; + dTriIndex Index[3]; + }; + + typedef Point ConversionArea[3]; + +#ifdef OPC_USE_CALLBACKS + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called by OPCODE to request vertices from the app. + * \param triangle_index [in] face index for which the system is requesting the vertices + * \param triangle [out] triangle's vertices (must be provided by the user) + * \param user_data [in] user-defined data from SetCallback() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef void (*RequestCallback) (udword triangle_index, VertexPointers& triangle, void* user_data); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called by OPCODE to request vertex indices from the app. + * \param triangle_index [in] face index for which the system is requesting the vertices + * \param triangle [out] triangle's vertices with indices (must be provided by the user) + * \param user_data [in] user-defined data from SetExCallback() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef void (*RequestExCallback) (udword triangle_index, VertexPointersEx& triangle, void* user_data); +#endif + + class OPCODE_API MeshInterface + { + public: + // Constructor / Destructor + MeshInterface(); + ~MeshInterface(); + // Common settings + inline_ udword GetNbTriangles() const { return mNbTris; } + inline_ udword GetNbVertices() const { return mNbVerts; } + inline_ void SetNbTriangles(udword nb) { mNbTris = nb; } + inline_ void SetNbVertices(udword nb) { mNbVerts = nb; } + +#ifdef OPC_USE_CALLBACKS + // Callback settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index. + * \param callback [in] user-defined callback + * \param user_data [in] user-defined data + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetCallback(RequestCallback callback, void* user_data); + inline_ void* GetUserData() const { return mUserData; } + inline_ RequestCallback GetCallback() const { return mObjCallback; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index. + * \param callback [in] user-defined callback + * \param user_data [in] user-defined data + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetExCallback(RequestExCallback callback, void* user_data); + inline_ void* GetExUserData() const { return mExUserData; } + inline_ RequestExCallback GetExCallback() const { return mObjExCallback; } +#else + // Pointers settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object. + * \param tris [in] pointer to triangles + * \param verts [in] pointer to vertices + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetPointers(const IndexedTriangle* tris, const Point* verts); + inline_ const IndexedTriangle* GetTris() const { return mTris; } + inline_ const Point* GetVerts() const { return mVerts; } + + #ifdef OPC_USE_STRIDE + // Strides settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Strides control + * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices. + * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(Point) bytes are used to get vertex position. + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(Point)); + inline_ udword GetTriStride() const { return mTriStride; } + inline_ udword GetVertexStride() const { return mVertexStride; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Single/Double control + * \param value [in] Indicates if mesh data is provided as array of \c single values. If \c false, data is expected to contain \c double elements. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetSingle(bool value) + { + mFetchTriangle = (value ? &MeshInterface::FetchTriangleFromSingles : &MeshInterface::FetchTriangleFromDoubles); + mFetchExTriangle = (value ? &MeshInterface::FetchExTriangleFromSingles : &MeshInterface::FetchExTriangleFromDoubles); + } + + #else + inline_ bool SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(Point)) { return true; } + inline_ void SetSingle(bool value) {} + inline_ udword GetTriStride() const { return sizeof(IndexedTriangle); } + inline_ udword GetVertexStride() const { return sizeof(Point); } + #endif +#endif + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Fetches a triangle given a triangle index. + * \param vp [out] required triangle's vertex pointers + * \param index [in] triangle index + * \param vc [in,out] storage required for data conversion (pass local variable with same scope as \a vp, as \a vp may point to this memory on return) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void GetTriangle(VertexPointers& vp, udword index, ConversionArea vc) const + { +#ifdef OPC_USE_CALLBACKS + (mObjCallback)(index, vp, mUserData); +#else + #ifdef OPC_USE_STRIDE + // Since there was conditional statement "if (Single)" which was unpredictable for compiler + // and required both branches to be always generated what made inlining a questionable + // benefit, I consider it better to introduce a forced call + // but get rig of branching and dead code injection. + ((*this).*mFetchTriangle)(vp, index, vc); + #else + const Point* Verts = GetVerts(); + const IndexedTriangle* T = &mTris[index]; + vp.Vertex[0] = &Verts[T->mVRef[0]]; + vp.Vertex[1] = &Verts[T->mVRef[1]]; + vp.Vertex[2] = &Verts[T->mVRef[2]]; + #endif +#endif + } + + inline_ bool GetExTriangle(VertexPointersEx& vpe, udword index, ConversionArea vc) const + { +#ifdef OPC_USE_CALLBACKS + if (mObjExCallback) { (mObjExCallback)(index, vpe, mUserData); return true; } + else { (mObjCallback)(index, vpe.vp, mUserData); return false; } +#else + #ifdef OPC_USE_STRIDE + // Since there was conditional statement "if (Single)" which was unpredictable for compiler + // and required both branches to be always generated what made inlining a questionable + // benefit, I consider it better to introduce a forced call + // but get rig of branching and dead code injection. + ((*this).*mFetchExTriangle)(vpe, index, vc); + return true; + #else + const Point* Verts = GetVerts(); + const IndexedTriangle* T = &mTris[index]; + dTriIndex VertIndex0 = T->mVRef[0]; + vpe.Index[0] = VertIndex0; + vpe.vp.Vertex[0] = &Verts[VertIndex0]; + dTriIndex VertIndex1 = T->mVRef[1]; + vpe.Index[1] = VertIndex1; + vpe.vp.Vertex[1] = &Verts[VertIndex1]; + dTriIndex VertIndex2 = T->mVRef[2]; + vpe.Index[2] = VertIndex2; + vpe.vp.Vertex[2] = &Verts[VertIndex2]; + return true; + #endif +#endif + } + + private: +#ifndef OPC_USE_CALLBACKS + #ifdef OPC_USE_STRIDE + void FetchTriangleFromSingles(VertexPointers& vp, udword index, ConversionArea vc) const; + void FetchTriangleFromDoubles(VertexPointers& vp, udword index, ConversionArea vc) const; + void FetchExTriangleFromSingles(VertexPointersEx& vpe, udword index, ConversionArea vc) const; + void FetchExTriangleFromDoubles(VertexPointersEx& vpe, udword index, ConversionArea vc) const; + #endif +#endif + + public: + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Remaps client's mesh according to a permutation. + * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles) + * \param permutation [in] list of triangle indices + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool RemapClient(udword nb_indices, const dTriIndex* permutation) const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the mesh interface is valid, i.e. things have been setup correctly. + * \return true if valid + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool IsValid() const; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Checks the mesh itself is valid. + * Currently we only look for degenerate faces. + * \return number of degenerate faces + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + udword CheckTopology() const; + private: + + udword mNbTris; //!< Number of triangles in the input model + udword mNbVerts; //!< Number of vertices in the input model +#ifdef OPC_USE_CALLBACKS + // User callback + void* mUserData; //!< User-defined data sent to callback + RequestCallback mObjCallback; //!< Object callback + void* mExUserData; //!< User-defined data sent to ex-callback + RequestExCallback mObjExCallback; //!< Object ex-callback +#else + // User pointers + #ifdef OPC_USE_STRIDE + udword mTriStride; //!< Possible triangle stride in bytes [Opcode 1.3] + udword mVertexStride; //!< Possible vertex stride in bytes [Opcode 1.3] + typedef void (MeshInterface:: *TriangleFetchProc)(VertexPointers& vp, udword index, ConversionArea vc) const; + TriangleFetchProc mFetchTriangle; + typedef void (MeshInterface:: *ExTriangleFetchProc)(VertexPointersEx& vpe, udword index, ConversionArea vc) const; + ExTriangleFetchProc mFetchExTriangle; + #endif + const IndexedTriangle* mTris; //!< Array of indexed triangles + const Point* mVerts; //!< Array of vertices +#endif + }; + +#endif //__OPC_MESHINTERFACE_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_Model.cpp b/libs/ode-0.16.1/OPCODE/OPC_Model.cpp new file mode 100644 index 0000000..418dd7e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Model.cpp @@ -0,0 +1,222 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for OPCODE models. + * \file OPC_Model.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * The main collision wrapper, for all trees. Supported trees are: + * - Normal trees (2*N-1 nodes, full size) + * - No-leaf trees (N-1 nodes, full size) + * - Quantized trees (2*N-1 nodes, half size) + * - Quantized no-leaf trees (N-1 nodes, half size) + * + * Usage: + * + * 1) Create a static mesh interface using callbacks or pointers. (see OPC_MeshInterface.cpp). + * Keep it around in your app, since a pointer to this interface is saved internally and + * used until you release the collision structures. + * + * 2) Build a Model using a creation structure: + * + * \code + * Model Sample; + * + * OPCODECREATE OPCC; + * OPCC.IMesh = ...; + * OPCC.Rules = ...; + * OPCC.NoLeaf = ...; + * OPCC.Quantized = ...; + * OPCC.KeepOriginal = ...; + * bool Status = Sample.Build(OPCC); + * \endcode + * + * 3) Create a tree collider and set it up: + * + * \code + * AABBTreeCollider TC; + * TC.SetFirstContact(...); + * TC.SetFullBoxBoxTest(...); + * TC.SetFullPrimBoxTest(...); + * TC.SetTemporalCoherence(...); + * \endcode + * + * 4) Perform a collision query + * + * \code + * // Setup cache + * static BVTCache ColCache; + * ColCache.Model0 = &Model0; + * ColCache.Model1 = &Model1; + * + * // Collision query + * bool IsOk = TC.Collide(ColCache, World0, World1); + * + * // Get collision status => if true, objects overlap + * BOOL Status = TC.GetContactStatus(); + * + * // Number of colliding pairs and list of pairs + * udword NbPairs = TC.GetNbPairs(); + * const Pair* p = TC.GetPairs() + * \endcode + * + * 5) Stats + * + * \code + * Model0.GetUsedBytes() = number of bytes used for this collision tree + * TC.GetNbBVBVTests() = number of BV-BV overlap tests performed during last query + * TC.GetNbPrimPrimTests() = number of Triangle-Triangle overlap tests performed during last query + * TC.GetNbBVPrimTests() = number of Triangle-BV overlap tests performed during last query + * \endcode + * + * \class Model + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Model::Model() +{ +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + mHull = null; +#endif // __MESHMERIZER_H__ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Model::~Model() +{ + Release(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases the model. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void Model::Release() +{ + ReleaseBase(); +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + DELETESINGLE(mHull); +#endif // __MESHMERIZER_H__ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool Model::Build(const OPCODECREATE& create) +{ + // 1) Checkings + if(!create.mIMesh || !create.mIMesh->IsValid()) return false; + + // For this model, we only support complete trees + if(create.mSettings.mLimit!=1) return SetIceError("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null); + + // Look for degenerate faces. + //udword NbDegenerate = create.mIMesh->CheckTopology(); + //if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); + // We continue nonetheless.... + + Release(); // Make sure previous tree has been discarded [Opcode 1.3, thanks Adam] + + // 1-1) Setup mesh interface automatically [Opcode 1.3] + SetMeshInterface(create.mIMesh); + + // Special case for 1-triangle meshes [Opcode 1.3] + udword NbTris = create.mIMesh->GetNbTriangles(); + if(NbTris==1) + { + // We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway. + // It's a waste to use a "model" for this but at least it will work. + mModelCode |= OPC_SINGLE_NODE; + return true; + } + + // 2) Build a generic AABB Tree. + mSource = new AABBTree; + CHECKALLOC(mSource); + + // 2-1) Setup a builder. Our primitives here are triangles from input mesh, + // so we use an AABBTreeOfTrianglesBuilder..... + { + AABBTreeOfTrianglesBuilder TB; + TB.mIMesh = create.mIMesh; + TB.mSettings = create.mSettings; + TB.mNbPrimitives = NbTris; + if(!mSource->Build(&TB)) return false; + } + + // 3) Create an optimized tree according to user-settings + if(!CreateTree(create.mNoLeaf, create.mQuantized)) return false; + + // 3-2) Create optimized tree + if(!mTree->Build(mSource)) return false; + + // 3-3) Delete generic tree if needed + if(!create.mKeepOriginal) DELETESINGLE(mSource); + +#ifdef __MESHMERIZER_H__ + // 4) Convex hull + if(create.mCollisionHull) + { + // Create hull + mHull = new CollisionHull; + CHECKALLOC(mHull); + + CONVEXHULLCREATE CHC; + // ### doesn't work with strides + CHC.NbVerts = create.mIMesh->GetNbVertices(); + CHC.Vertices = create.mIMesh->GetVerts(); + CHC.UnifyNormals = true; + CHC.ReduceVertices = true; + CHC.WordFaces = false; + mHull->Compute(CHC); + } +#endif // __MESHMERIZER_H__ + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword Model::GetUsedBytes() const +{ + if(!mTree) return 0; + return mTree->GetUsedBytes(); +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_Model.h b/libs/ode-0.16.1/OPCODE/OPC_Model.h new file mode 100644 index 0000000..98dee56 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Model.h @@ -0,0 +1,65 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for OPCODE models. + * \file OPC_Model.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_MODEL_H__ +#define __OPC_MODEL_H__ + + class OPCODE_API Model : public BaseModel + { + public: + // Constructor/Destructor + Model(); + virtual ~Model(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds a collision model. + * \param create [in] model creation structure + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) bool Build(const OPCODECREATE& create); + +#ifdef __MESHMERIZER_H__ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the collision hull. + * \return the collision hull if it exists + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const CollisionHull* GetHull() const { return mHull; } +#endif // __MESHMERIZER_H__ + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of bytes used by the tree. + * \return amount of bytes used + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(BaseModel) udword GetUsedBytes() const; + + private: +#ifdef __MESHMERIZER_H__ + CollisionHull* mHull; //!< Possible convex hull +#endif // __MESHMERIZER_H__ + // Internal methods + void Release(); + }; + +#endif //__OPC_MODEL_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.cpp new file mode 100644 index 0000000..730c7cc --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.cpp @@ -0,0 +1,767 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an OBB collider. + * \file OPC_OBBCollider.cpp + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an OBB-vs-tree collider. + * + * \class OBBCollider + * \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)); + +//! OBB-triangle test +#define OBB_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ + /* Transform them in a common space */ \ + TransformPoint(mLeafVerts[0], *VP.Vertex[0], mRModelToBox, mTModelToBox); \ + TransformPoint(mLeafVerts[1], *VP.Vertex[1], mRModelToBox, mTModelToBox); \ + TransformPoint(mLeafVerts[2], *VP.Vertex[2], mRModelToBox, mTModelToBox); \ + /* Perform triangle-box overlap test */ \ + if(TriBoxOverlap()) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +OBBCollider::OBBCollider() : mFullBoxBoxTest(true) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +OBBCollider::~OBBCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 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* OBBCollider::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 box cache + * \param box [in] collision OBB in local space + * \param model [in] Opcode model to collide with + * \param worldb [in] OBB's world matrix, or null + * \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 OBBCollider::Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb, const Matrix4x4* worldm) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, box, worldb, worldm)) 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 + * - setup matrices + * - check temporal coherence + * + * \param cache [in/out] a box cache + * \param box [in] obb in local space + * \param worldb [in] obb's world matrix, or null + * \param worldm [in] model's world matrix, or null + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL OBBCollider::InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb, const Matrix4x4* worldm) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Compute obb in world space + mBoxExtents = box.mExtents; + + Matrix4x4 WorldB; + + if(worldb) + { + WorldB = Matrix4x4( box.mRot * Matrix3x3(*worldb) ); + WorldB.SetTrans(box.mCenter * *worldb); + } + else + { + WorldB = box.mRot; + WorldB.SetTrans(box.mCenter); + } + + // Setup matrices + Matrix4x4 InvWorldB; + InvertPRMatrix(InvWorldB, WorldB); + + if(worldm) + { + Matrix4x4 InvWorldM; + InvertPRMatrix(InvWorldM, *worldm); + + Matrix4x4 WorldBtoM = WorldB * InvWorldM; + Matrix4x4 WorldMtoB = *worldm * InvWorldB; + + mRModelToBox = WorldMtoB; WorldMtoB.GetTrans(mTModelToBox); + mRBoxToModel = WorldBtoM; WorldBtoM.GetTrans(mTBoxToModel); + } + else + { + mRModelToBox = InvWorldB; InvWorldB.GetTrans(mTModelToBox); + mRBoxToModel = WorldB; WorldB.GetTrans(mTBoxToModel); + } + + // 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) + OBB_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) + OBB_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 + { + // ### rewrite this + OBB TestBox(mTBoxToModel, mBoxExtents, mRBoxToModel); + + // We're interested in all contacts =>test the new real box N(ew) against the previous fat box P(revious): + if(IsCacheValid(cache) && TestBox.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 + TestBox.mExtents *= cache.FatCoeff; + mBoxExtents *= cache.FatCoeff; + + // Update cache with query data (signature for cached faces) + cache.FatBox = TestBox; + } + } + } + else + { + // Here we don't use temporal coherence => do a normal query + mTouchedPrimitives->Reset(); + } + + // Now we can precompute box-box data + + // Precompute absolute box-to-model rotation matrix + for(udword i=0;i<3;i++) + { + for(udword j=0;j<3;j++) + { + // Epsilon value prevents floating-point inaccuracies (strategy borrowed from RAPID) + mAR.m[i][j] = 1e-6f + fabsf(mRBoxToModel.m[i][j]); + } + } + + // Precompute bounds for box-in-box test + mB0 = mBoxExtents - mTModelToBox; + mB1 = - mBoxExtents - mTModelToBox; + + // Precompute box-box data - Courtesy of Erwin de Vries + mBBx1 = mBoxExtents.x*mAR.m[0][0] + mBoxExtents.y*mAR.m[1][0] + mBoxExtents.z*mAR.m[2][0]; + mBBy1 = mBoxExtents.x*mAR.m[0][1] + mBoxExtents.y*mAR.m[1][1] + mBoxExtents.z*mAR.m[2][1]; + mBBz1 = mBoxExtents.x*mAR.m[0][2] + mBoxExtents.y*mAR.m[1][2] + mBoxExtents.z*mAR.m[2][2]; + + mBB_1 = mBoxExtents.y*mAR.m[2][0] + mBoxExtents.z*mAR.m[1][0]; + mBB_2 = mBoxExtents.x*mAR.m[2][0] + mBoxExtents.z*mAR.m[0][0]; + mBB_3 = mBoxExtents.x*mAR.m[1][0] + mBoxExtents.y*mAR.m[0][0]; + mBB_4 = mBoxExtents.y*mAR.m[2][1] + mBoxExtents.z*mAR.m[1][1]; + mBB_5 = mBoxExtents.x*mAR.m[2][1] + mBoxExtents.z*mAR.m[0][1]; + mBB_6 = mBoxExtents.x*mAR.m[1][1] + mBoxExtents.y*mAR.m[0][1]; + mBB_7 = mBoxExtents.y*mAR.m[2][2] + mBoxExtents.z*mAR.m[1][2]; + mBB_8 = mBoxExtents.x*mAR.m[2][2] + mBoxExtents.z*mAR.m[0][2]; + mBB_9 = mBoxExtents.x*mAR.m[1][2] + mBoxExtents.y*mAR.m[0][2]; + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the OBB 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 OBB contains the whole box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL OBBCollider::OBBContainsBox(const Point& bc, const Point& be) +{ + // I assume if all 8 box vertices are inside the OBB, so does the whole box. + // Sounds ok but maybe there's a better way? +/* +#define TEST_PT(a,b,c) \ + p.x=a; p.y=b; p.z=c; p+=bc; \ + f = p.x * mRModelToBox.m[0][0] + p.y * mRModelToBox.m[1][0] + p.z * mRModelToBox.m[2][0]; if(f>mB0.x || f<mB1.x) return FALSE;\ + f = p.x * mRModelToBox.m[0][1] + p.y * mRModelToBox.m[1][1] + p.z * mRModelToBox.m[2][1]; if(f>mB0.y || f<mB1.y) return FALSE;\ + f = p.x * mRModelToBox.m[0][2] + p.y * mRModelToBox.m[1][2] + p.z * mRModelToBox.m[2][2]; if(f>mB0.z || f<mB1.z) return FALSE; + + Point p; + float f; + + TEST_PT(be.x, be.y, be.z) + TEST_PT(-be.x, be.y, be.z) + TEST_PT(be.x, -be.y, be.z) + TEST_PT(-be.x, -be.y, be.z) + TEST_PT(be.x, be.y, -be.z) + TEST_PT(-be.x, be.y, -be.z) + TEST_PT(be.x, -be.y, -be.z) + TEST_PT(-be.x, -be.y, -be.z) + + return TRUE; +*/ + + // Yes there is: + // - compute model-box's AABB in OBB space + // - test AABB-in-AABB + float NCx = bc.x * mRModelToBox.m[0][0] + bc.y * mRModelToBox.m[1][0] + bc.z * mRModelToBox.m[2][0]; + float NEx = fabsf(mRModelToBox.m[0][0] * be.x) + fabsf(mRModelToBox.m[1][0] * be.y) + fabsf(mRModelToBox.m[2][0] * be.z); + + if(mB0.x < NCx+NEx) return FALSE; + if(mB1.x > NCx-NEx) return FALSE; + + float NCy = bc.x * mRModelToBox.m[0][1] + bc.y * mRModelToBox.m[1][1] + bc.z * mRModelToBox.m[2][1]; + float NEy = fabsf(mRModelToBox.m[0][1] * be.x) + fabsf(mRModelToBox.m[1][1] * be.y) + fabsf(mRModelToBox.m[2][1] * be.z); + + if(mB0.y < NCy+NEy) return FALSE; + if(mB1.y > NCy-NEy) return FALSE; + + float NCz = bc.x * mRModelToBox.m[0][2] + bc.y * mRModelToBox.m[1][2] + bc.z * mRModelToBox.m[2][2]; + float NEz = fabsf(mRModelToBox.m[0][2] * be.x) + fabsf(mRModelToBox.m[1][2] * be.y) + fabsf(mRModelToBox.m[2][2] * be.z); + + if(mB0.z < NCz+NEz) return FALSE; + if(mB1.z > NCz-NEz) return FALSE; + + return TRUE; +} + +#define TEST_BOX_IN_OBB(center, extents) \ + if(OBBContainsBox(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 OBBCollider::_Collide(const AABBCollisionNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->IsLeaf()) + { + OBB_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 OBBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(Center, Extents) + + if(node->IsLeaf()) + { + OBB_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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(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 OBBCollider::_Collide(const AABBNoLeafNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { OBB_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 OBBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) +{ + // Perform OBB-AABB overlap test + if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; + + TEST_BOX_IN_OBB(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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(Center, Extents) + + if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { OBB_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 OBBCollider::_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 OBB-AABB overlap test + if(!BoxBoxOverlap(Extents, Center)) return; + + TEST_BOX_IN_OBB(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()); +} + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridOBBCollider::HybridOBBCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridOBBCollider::~HybridOBBCollider() +{ +} + +bool HybridOBBCollider::Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb, 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, box, worldb, 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 + for(udword i=0;i<Nb;i++) + { + OBB_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++; + OBB_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + OBB_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h b/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h new file mode 100644 index 0000000..a050118 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_OBBCollider.h @@ -0,0 +1,142 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for an OBB collider. + * \file OPC_OBBCollider.h + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_OBBCOLLIDER_H__ +#define __OPC_OBBCOLLIDER_H__ + + struct OPCODE_API OBBCache : VolumeCache + { + OBBCache() : FatCoeff(1.1f) + { + FatBox.mCenter.Zero(); + FatBox.mExtents.Zero(); + FatBox.mRot.Identity(); + } + + // Cached faces signature + OBB FatBox; //!< Box used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< extents multiplier used to create a fat box + }; + + class OPCODE_API OBBCollider : public VolumeCollider + { + public: + // Constructor / Destructor + OBBCollider(); + virtual ~OBBCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * 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 OBB in local space + * \param model [in] Opcode model to collide with + * \param worldb [in] OBB's world matrix, or null + * \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 Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: select between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) + * \param flag [in] true for full tests, false for coarse tests + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Precomputed data + Matrix3x3 mAR; //!< Absolute rotation matrix + Matrix3x3 mRModelToBox; //!< Rotation from model space to obb space + Matrix3x3 mRBoxToModel; //!< Rotation from obb space to model space + Point mTModelToBox; //!< Translation from model space to obb space + Point mTBoxToModel; //!< Translation from obb space to model space + + Point mBoxExtents; + Point mB0; //!< - mTModelToBox + mBoxExtents + Point mB1; //!< - mTModelToBox - mBoxExtents + + float mBBx1; + float mBBy1; + float mBBz1; + + float mBB_1; + float mBB_2; + float mBB_3; + float mBB_4; + float mBB_5; + float mBB_6; + float mBB_7; + float mBB_8; + float mBB_9; + + // Leaf description + Point mLeafVerts[3]; //!< Triangle vertices + // Settings + bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL OBBContainsBox(const Point& bc, const Point& be); + inline_ BOOL BoxBoxOverlap(const Point& extents, const Point& center); + inline_ BOOL TriBoxOverlap(); + // Init methods + BOOL InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridOBBCollider : public OBBCollider + { + public: + // Constructor / Destructor + HybridOBBCollider(); + virtual ~HybridOBBCollider(); + + bool Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_OBBCOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_OptimizedTree.cpp b/libs/ode-0.16.1/OPCODE/OPC_OptimizedTree.cpp new file mode 100644 index 0000000..057853e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_OptimizedTree.cpp @@ -0,0 +1,795 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for optimized trees. Implements 4 trees: + * - normal + * - no leaf + * - quantized + * - no leaf / quantized + * + * \file OPC_OptimizedTree.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A standard AABB tree. + * + * \class AABBCollisionTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A no-leaf AABB tree. + * + * \class AABBNoLeafTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A quantized AABB tree. + * + * \class AABBQuantizedTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A quantized no-leaf AABB tree. + * + * \class AABBQuantizedNoLeafTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +//! Compilation flag: +//! - true to fix quantized boxes (i.e. make sure they enclose the original ones) +//! - false to see the effects of quantization errors (faster, but wrong results in some cases) +static const bool gFixQuantized = true; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds an implicit tree from a standard one. An implicit tree is a complete tree (2*N-1 nodes) whose negative + * box pointers and primitive pointers have been made implicit, hence packing 3 pointers in one. + * + * Layout for implicit trees: + * Node: + * - box + * - data (32-bits value) + * + * if data's LSB = 1 => remaining bits are a primitive pointer + * else remaining bits are a P-node pointer, and N = P + 1 + * + * \relates AABBCollisionNode + * \fn _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) + * \param linear [in] base address of destination nodes + * \param box_id [in] index of destination node + * \param current_id [in] current running index + * \param current_node [in] current node from input tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +static void _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) +{ + // Current node from input tree is "current_node". Must be flattened into "linear[boxid]". + + // Store the AABB + current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); + current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); + // Store remaining info + if(current_node->IsLeaf()) + { + // The input tree must be complete => i.e. one primitive/leaf + ASSERT(current_node->GetNbPrimitives()==1); + // Get the primitive index from the input tree + udword PrimitiveIndex = current_node->GetPrimitives()[0]; + // Setup box data as the primitive index, marked as leaf + linear[box_id].mData = (PrimitiveIndex<<1)|1; + } + else + { + // To make the negative one implicit, we must store P and N in successive order + udword PosID = current_id++; // Get a new id for positive child + udword NegID = current_id++; // Get a new id for negative child + // Setup box data as the forthcoming new P pointer + linear[box_id].mData = (size_t)&linear[PosID]; + // Make sure it's not marked as leaf + ASSERT(!(linear[box_id].mData&1)); + // Recurse with new IDs + _BuildCollisionTree(linear, PosID, current_id, current_node->GetPos()); + _BuildCollisionTree(linear, NegID, current_id, current_node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a "no-leaf" tree from a standard one. This is a tree whose leaf nodes have been removed. + * + * Layout for no-leaf trees: + * + * Node: + * - box + * - P pointer => a node (LSB=0) or a primitive (LSB=1) + * - N pointer => a node (LSB=0) or a primitive (LSB=1) + * + * \relates AABBNoLeafNode + * \fn _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) + * \param linear [in] base address of destination nodes + * \param box_id [in] index of destination node + * \param current_id [in] current running index + * \param current_node [in] current node from input tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +static void _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) +{ + const AABBTreeNode* P = current_node->GetPos(); + const AABBTreeNode* N = current_node->GetNeg(); + // Leaf nodes here?! + ASSERT(P); + ASSERT(N); + // Internal node => keep the box + current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); + current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); + + if(P->IsLeaf()) + { + // The input tree must be complete => i.e. one primitive/leaf + ASSERT(P->GetNbPrimitives()==1); + // Get the primitive index from the input tree + udword PrimitiveIndex = P->GetPrimitives()[0]; + // Setup prev box data as the primitive index, marked as leaf + linear[box_id].mPosData = (PrimitiveIndex<<1)|1; + } + else + { + // Get a new id for positive child + udword PosID = current_id++; + // Setup box data + linear[box_id].mPosData = (size_t)&linear[PosID]; + // Make sure it's not marked as leaf + ASSERT(!(linear[box_id].mPosData&1)); + // Recurse + _BuildNoLeafTree(linear, PosID, current_id, P); + } + + if(N->IsLeaf()) + { + // The input tree must be complete => i.e. one primitive/leaf + ASSERT(N->GetNbPrimitives()==1); + // Get the primitive index from the input tree + udword PrimitiveIndex = N->GetPrimitives()[0]; + // Setup prev box data as the primitive index, marked as leaf + linear[box_id].mNegData = (PrimitiveIndex<<1)|1; + } + else + { + // Get a new id for negative child + udword NegID = current_id++; + // Setup box data + linear[box_id].mNegData = (size_t)&linear[NegID]; + // Make sure it's not marked as leaf + ASSERT(!(linear[box_id].mNegData&1)); + // Recurse + _BuildNoLeafTree(linear, NegID, current_id, N); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBCollisionTree::AABBCollisionTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBCollisionTree::~AABBCollisionTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollisionTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbNodes = tree->GetNbNodes(); + if(NbNodes!=NbTriangles*2-1) return false; + + // Get nodes + if(mNbNodes!=NbNodes) // Same number of nodes => keep moving + { + mNbNodes = NbNodes; + DELETEARRAY(mNodes); + mNodes = new AABBCollisionNode[NbNodes]; + CHECKALLOC(mNodes); + } + + // Build the tree + udword CurID = 1; + _BuildCollisionTree(mNodes, 0, CurID, tree); + ASSERT(CurID==NbNodes); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollisionTree::Refit(const MeshInterface* /*mesh_interface*/) +{ + ASSERT(!"Not implemented since AABBCollisionTrees have twice as more nodes to refit as AABBNoLeafTrees!"); + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBCollisionTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBCollisionNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->IsLeaf()) + { + _Walk(current_node->GetPos(), callback, user_data); + _Walk(current_node->GetNeg(), callback, user_data); + } + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBNoLeafTree::AABBNoLeafTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBNoLeafTree::~AABBNoLeafTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBNoLeafTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbExistingNodes = tree->GetNbNodes(); + if(NbExistingNodes!=NbTriangles*2-1) return false; + + udword NbNodes = NbTriangles-1; + // Get nodes + if(mNbNodes!=NbNodes) // Same number of nodes => keep moving + { + mNbNodes = NbNodes; + DELETEARRAY(mNodes); + mNodes = new AABBNoLeafNode[NbNodes]; + CHECKALLOC(mNodes); + } + + // Build the tree + udword CurID = 1; + _BuildNoLeafTree(mNodes, 0, CurID, tree); + ASSERT(CurID==NbNodes); + + return true; +} + +inline_ void ComputeMinMax(Point& min, Point& max, const VertexPointers& vp) +{ + // Compute triangle's AABB = a leaf box +#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much + min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); + + min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); + + min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); + max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); +#else + min = *vp.Vertex[0]; + max = *vp.Vertex[0]; + min.Min(*vp.Vertex[1]); + max.Max(*vp.Vertex[1]); + min.Min(*vp.Vertex[2]); + max.Max(*vp.Vertex[2]); +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBNoLeafTree::Refit(const MeshInterface* mesh_interface) +{ + // Checkings + if(!mesh_interface) return false; + + // Bottom-up update + VertexPointers VP; + ConversionArea VC; + Point Min,Max; + Point Min_,Max_; + udword Index = mNbNodes; + while(Index--) + { + AABBNoLeafNode& Current = mNodes[Index]; + + if(Current.HasPosLeaf()) + { + mesh_interface->GetTriangle(VP, Current.GetPosPrimitive(), VC); + ComputeMinMax(Min, Max, VP); + } + else + { + const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; + CurrentBox.GetMin(Min); + CurrentBox.GetMax(Max); + } + + if(Current.HasNegLeaf()) + { + mesh_interface->GetTriangle(VP, Current.GetNegPrimitive(), VC); + ComputeMinMax(Min_, Max_, VP); + } + else + { + const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; + CurrentBox.GetMin(Min_); + CurrentBox.GetMax(Max_); + } +#ifdef OPC_USE_FCOMI + Min.x = FCMin2(Min.x, Min_.x); + Max.x = FCMax2(Max.x, Max_.x); + Min.y = FCMin2(Min.y, Min_.y); + Max.y = FCMax2(Max.y, Max_.y); + Min.z = FCMin2(Min.z, Min_.z); + Max.z = FCMax2(Max.z, Max_.z); +#else + Min.Min(Min_); + Max.Max(Max_); +#endif + Current.mAABB.SetMinMax(Min, Max); + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); + if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} + +// Quantization notes: +// - We could use the highest bits of mData to store some more quantized bits. Dequantization code +// would be slightly more complex, but number of overlap tests would be reduced (and anyhow those +// bits are currently wasted). Of course it's not possible if we move to 16 bits mData. +// - Something like "16 bits floats" could be tested, to bypass the int-to-float conversion. +// - A dedicated BV-BV test could be used, dequantizing while testing for overlap. (i.e. it's some +// lazy-dequantization which may save some work in case of early exits). At the very least some +// muls could be saved by precomputing several more matrices. But maybe not worth the pain. +// - Do we need to dequantize anyway? Not doing the extents-related muls only implies the box has +// been scaled, for example. +// - The deeper we move into the hierarchy, the smaller the extents should be. May not need a fixed +// number of quantization bits. Even better, could probably be best delta-encoded. + + +// Find max values. Some people asked why I wasn't simply using the first node. Well, I can't. +// I'm not looking for (min, max) values like in a standard AABB, I'm looking for the extremal +// centers/extents in order to quantize them. The first node would only give a single center and +// a single extents. While extents would be the biggest, the center wouldn't. +#define FIND_MAX_VALUES \ + /* Get max values */ \ + Point CMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ + Point EMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ + const udword NbNodes = mNbNodes; \ + for(udword i=0;i<NbNodes;i++) \ + { \ + float cx = fabsf(Nodes[i].mAABB.mCenter.x); if(cx>CMax.x) CMax.x = cx; \ + float cy = fabsf(Nodes[i].mAABB.mCenter.y); if(cy>CMax.y) CMax.y = cy; \ + float cz = fabsf(Nodes[i].mAABB.mCenter.z); if(cz>CMax.z) CMax.z = cz; \ + float ex = fabsf(Nodes[i].mAABB.mExtents.x); if(ex>EMax.x) EMax.x = ex; \ + float ey = fabsf(Nodes[i].mAABB.mExtents.y); if(ey>EMax.y) EMax.y = ey; \ + float ez = fabsf(Nodes[i].mAABB.mExtents.z); if(ez>EMax.z) EMax.z = ez; \ + } + +#define INIT_QUANTIZATION \ + udword nbc=15; /* Keep one bit for sign */ \ + udword nbe=15; /* Keep one bit for fix */ \ + if(!gFixQuantized) nbe++; \ + \ + /* Compute quantization coeffs */ \ + Point CQuantCoeff, EQuantCoeff; \ + CQuantCoeff.x = CMax.x!=0.0f ? float((1<<nbc)-1)/CMax.x : 0.0f; \ + CQuantCoeff.y = CMax.y!=0.0f ? float((1<<nbc)-1)/CMax.y : 0.0f; \ + CQuantCoeff.z = CMax.z!=0.0f ? float((1<<nbc)-1)/CMax.z : 0.0f; \ + EQuantCoeff.x = EMax.x!=0.0f ? float((1<<nbe)-1)/EMax.x : 0.0f; \ + EQuantCoeff.y = EMax.y!=0.0f ? float((1<<nbe)-1)/EMax.y : 0.0f; \ + EQuantCoeff.z = EMax.z!=0.0f ? float((1<<nbe)-1)/EMax.z : 0.0f; \ + /* Compute and save dequantization coeffs */ \ + mCenterCoeff.x = CQuantCoeff.x!=0.0f ? 1.0f / CQuantCoeff.x : 0.0f; \ + mCenterCoeff.y = CQuantCoeff.y!=0.0f ? 1.0f / CQuantCoeff.y : 0.0f; \ + mCenterCoeff.z = CQuantCoeff.z!=0.0f ? 1.0f / CQuantCoeff.z : 0.0f; \ + mExtentsCoeff.x = EQuantCoeff.x!=0.0f ? 1.0f / EQuantCoeff.x : 0.0f; \ + mExtentsCoeff.y = EQuantCoeff.y!=0.0f ? 1.0f / EQuantCoeff.y : 0.0f; \ + mExtentsCoeff.z = EQuantCoeff.z!=0.0f ? 1.0f / EQuantCoeff.z : 0.0f; \ + +#define PERFORM_QUANTIZATION \ + /* Quantize */ \ + mNodes[i].mAABB.mCenter[0] = sword(Nodes[i].mAABB.mCenter.x * CQuantCoeff.x); \ + mNodes[i].mAABB.mCenter[1] = sword(Nodes[i].mAABB.mCenter.y * CQuantCoeff.y); \ + mNodes[i].mAABB.mCenter[2] = sword(Nodes[i].mAABB.mCenter.z * CQuantCoeff.z); \ + mNodes[i].mAABB.mExtents[0] = uword(Nodes[i].mAABB.mExtents.x * EQuantCoeff.x); \ + mNodes[i].mAABB.mExtents[1] = uword(Nodes[i].mAABB.mExtents.y * EQuantCoeff.y); \ + mNodes[i].mAABB.mExtents[2] = uword(Nodes[i].mAABB.mExtents.z * EQuantCoeff.z); \ + /* Fix quantized boxes */ \ + if(gFixQuantized) \ + { \ + /* Make sure the quantized box is still valid */ \ + Point Max = Nodes[i].mAABB.mCenter + Nodes[i].mAABB.mExtents; \ + Point Min = Nodes[i].mAABB.mCenter - Nodes[i].mAABB.mExtents; \ + /* For each axis */ \ + for(udword j=0;j<3;j++) \ + { /* Dequantize the box center */ \ + float qc = float(mNodes[i].mAABB.mCenter[j]) * mCenterCoeff[j]; \ + bool FixMe=true; \ + do \ + { /* Dequantize the box extent */ \ + float qe = float(mNodes[i].mAABB.mExtents[j]) * mExtentsCoeff[j]; \ + /* Compare real & dequantized values */ \ + if(qc+qe<Max[j] || qc-qe>Min[j]) \ + { \ + mNodes[i].mAABB.mExtents[j]++; \ + /* Prevent wrapping */ \ + if(!mNodes[i].mAABB.mExtents[j]) \ + { \ + mNodes[i].mAABB.mExtents[j]=0xffff; \ + FixMe=false; \ + } \ + } \ + else FixMe=false; \ + }while(FixMe); \ + } \ + } + +#define REMAP_DATA(member, NodeType) \ + /* Fix data */ \ + Data = Nodes[i].member; \ + if(!(Data&1)) \ + { \ + /* Compute box number */ \ + size_t Nb = ((NodeType *)(Data) - (Nodes)); \ + Data = (size_t) &mNodes[Nb]; \ + } \ + /* ...remapped */ \ + mNodes[i].member = Data; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedTree::AABBQuantizedTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedTree::~AABBQuantizedTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbNodes = tree->GetNbNodes(); + if(NbNodes!=NbTriangles*2-1) return false; + + // Get nodes + mNbNodes = NbNodes; + DELETEARRAY(mNodes); + AABBCollisionNode* Nodes = new AABBCollisionNode[NbNodes]; + CHECKALLOC(Nodes); + + // Build the tree + udword CurID = 1; + _BuildCollisionTree(Nodes, 0, CurID, tree); + + // Quantize + { + mNodes = new AABBQuantizedNode[NbNodes]; + + if (mNodes != null) + { + // Get max values + FIND_MAX_VALUES + + // Quantization + INIT_QUANTIZATION + + // Quantize + size_t Data; + for(udword i=0;i<NbNodes;i++) + { + PERFORM_QUANTIZATION + REMAP_DATA(mData, AABBCollisionNode) + } + } + + DELETEARRAY(Nodes); + CHECKALLOC(mNodes); + } + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedTree::Refit(const MeshInterface* /*mesh_interface*/) +{ + ASSERT(!"Not implemented since requantizing is painful !"); + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBQuantizedNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->IsLeaf()) + { + _Walk(current_node->GetPos(), callback, user_data); + _Walk(current_node->GetNeg(), callback, user_data); + } + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedNoLeafTree::AABBQuantizedNoLeafTree() : mNodes(null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBQuantizedNoLeafTree::~AABBQuantizedNoLeafTree() +{ + DELETEARRAY(mNodes); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedNoLeafTree::Build(AABBTree* tree) +{ + // Checkings + if(!tree) return false; + // Check the input tree is complete + udword NbTriangles = tree->GetNbPrimitives(); + udword NbExistingNodes = tree->GetNbNodes(); + if(NbExistingNodes!=NbTriangles*2-1) return false; + + // Get nodes + udword NbNodes = NbTriangles-1; + mNbNodes = NbNodes; + DELETEARRAY(mNodes); + AABBNoLeafNode* Nodes = new AABBNoLeafNode[NbNodes]; + CHECKALLOC(Nodes); + + // Build the tree + udword CurID = 1; + _BuildNoLeafTree(Nodes, 0, CurID, tree); + ASSERT(CurID==NbNodes); + + // Quantize + { + mNodes = new AABBQuantizedNoLeafNode[NbNodes]; + + if (mNodes != null) + { + // Get max values + FIND_MAX_VALUES + + // Quantization + INIT_QUANTIZATION + + // Quantize + size_t Data; + for(udword i=0;i<NbNodes;i++) + { + PERFORM_QUANTIZATION + REMAP_DATA(mPosData, AABBNoLeafNode) + REMAP_DATA(mNegData, AABBNoLeafNode) + } + } + + DELETEARRAY(Nodes); + CHECKALLOC(mNodes); + } + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedNoLeafTree::Refit(const MeshInterface* /*mesh_interface*/) +{ + ASSERT(!"Not implemented since requantizing is painful !"); + return false; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBQuantizedNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const +{ + if(!callback) return false; + + struct Local + { + static void _Walk(const AABBQuantizedNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data) + { + if(!current_node || !(callback)(current_node, user_data)) return; + + if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); + if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); + } + }; + Local::_Walk(mNodes, callback, user_data); + return true; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_OptimizedTree.h b/libs/ode-0.16.1/OPCODE/OPC_OptimizedTree.h new file mode 100644 index 0000000..36aea07 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_OptimizedTree.h @@ -0,0 +1,206 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for optimized trees. + * \file OPC_OptimizedTree.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_OPTIMIZEDTREE_H__ +#define __OPC_OPTIMIZEDTREE_H__ + + //! Common interface for a node of an implicit tree + #define IMPLEMENT_IMPLICIT_NODE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + inline_ base_class() : mData(0) {} \ + inline_ ~base_class() {} \ + /* Leaf test */ \ + inline_ BOOL IsLeaf() const { return (mData&1)!=0; } \ + /* Data access */ \ + inline_ const base_class* GetPos() const { return (base_class*)mData; } \ + inline_ const base_class* GetNeg() const { return ((base_class*)mData)+1; } \ + inline_ size_t GetPrimitive() const { return (mData>>1); } \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + \ + volume mAABB; \ + size_t mData; + + //! Common interface for a node of a no-leaf tree + #define IMPLEMENT_NOLEAF_NODE(base_class, volume) \ + public: \ + /* Constructor / Destructor */ \ + inline_ base_class() : mPosData(0), mNegData(0) {} \ + inline_ ~base_class() {} \ + /* Leaf tests */ \ + inline_ BOOL HasPosLeaf() const { return (mPosData&1)!=0; } \ + inline_ BOOL HasNegLeaf() const { return (mNegData&1)!=0; } \ + /* Data access */ \ + inline_ const base_class* GetPos() const { return (base_class*)mPosData; } \ + inline_ const base_class* GetNeg() const { return (base_class*)mNegData; } \ + inline_ size_t GetPosPrimitive() const { return (mPosData>>1); } \ + inline_ size_t GetNegPrimitive() const { return (mNegData>>1); } \ + /* Stats */ \ + inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ + \ + volume mAABB; \ + size_t mPosData; \ + size_t mNegData; + + class OPCODE_API AABBCollisionNode + { + IMPLEMENT_IMPLICIT_NODE(AABBCollisionNode, CollisionAABB) + + inline_ float GetVolume() const { return mAABB.mExtents.x * mAABB.mExtents.y * mAABB.mExtents.z; } + inline_ float GetSize() const { return mAABB.mExtents.SquareMagnitude(); } + inline_ udword GetRadius() const + { + udword* Bits = (udword*)&mAABB.mExtents.x; + udword Max = Bits[0]; + if(Bits[1]>Max) Max = Bits[1]; + if(Bits[2]>Max) Max = Bits[2]; + return Max; + } + + // NB: using the square-magnitude or the true volume of the box, seems to yield better results + // (assuming UNC-like informed traversal methods). I borrowed this idea from PQP. The usual "size" + // otherwise, is the largest box extent. In SOLID that extent is computed on-the-fly each time it's + // needed (the best approach IMHO). In RAPID the rotation matrix is permuted so that Extent[0] is + // always the greatest, which saves looking for it at runtime. On the other hand, it yields matrices + // whose determinant is not 1, i.e. you can't encode them anymore as unit quaternions. Not a very + // good strategy. + }; + + class OPCODE_API AABBQuantizedNode + { + IMPLEMENT_IMPLICIT_NODE(AABBQuantizedNode, QuantizedAABB) + + inline_ uword GetSize() const + { + const uword* Bits = mAABB.mExtents; + uword Max = Bits[0]; + if(Bits[1]>Max) Max = Bits[1]; + if(Bits[2]>Max) Max = Bits[2]; + return Max; + } + // NB: for quantized nodes I don't feel like computing a square-magnitude with integers all + // over the place.......! + }; + + class OPCODE_API AABBNoLeafNode + { + IMPLEMENT_NOLEAF_NODE(AABBNoLeafNode, CollisionAABB) + }; + + class OPCODE_API AABBQuantizedNoLeafNode + { + IMPLEMENT_NOLEAF_NODE(AABBQuantizedNoLeafNode, QuantizedAABB) + }; + + //! Common interface for a collision tree + #define IMPLEMENT_COLLISION_TREE(base_class, node) \ + public: \ + /* Constructor / Destructor */ \ + base_class(); \ + virtual ~base_class(); \ + /* Builds from a standard tree */ \ + override(AABBOptimizedTree) bool Build(AABBTree* tree); \ + /* Refits the tree */ \ + override(AABBOptimizedTree) bool Refit(const MeshInterface* mesh_interface); \ + /* Walks the tree */ \ + override(AABBOptimizedTree) bool Walk(GenericWalkingCallback callback, void* user_data) const; \ + /* Data access */ \ + inline_ const node* GetNodes() const { return mNodes; } \ + /* Stats */ \ + override(AABBOptimizedTree) udword GetUsedBytes() const { return mNbNodes*sizeof(node); } \ + private: \ + node* mNodes; + + typedef bool (*GenericWalkingCallback) (const void* current, void* user_data); + + class OPCODE_API AABBOptimizedTree + { + public: + // Constructor / Destructor + AABBOptimizedTree() : + mNbNodes (0) + {} + virtual ~AABBOptimizedTree() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Builds the collision tree from a generic AABB tree. + * \param tree [in] generic AABB tree + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Build(AABBTree* tree) = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Refits the collision tree after vertices have been modified. + * \param mesh_interface [in] mesh interface for current model + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Refit(const MeshInterface* mesh_interface) = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Walks the tree and call the user back for each node. + * \param callback [in] walking callback + * \param user_data [in] callback's user data + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool Walk(GenericWalkingCallback callback, void* user_data) const = 0; + + // Data access + virtual udword GetUsedBytes() const = 0; + inline_ udword GetNbNodes() const { return mNbNodes; } + + protected: + udword mNbNodes; + }; + + class OPCODE_API AABBCollisionTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBCollisionTree, AABBCollisionNode) + }; + + class OPCODE_API AABBNoLeafTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBNoLeafTree, AABBNoLeafNode) + }; + + class OPCODE_API AABBQuantizedTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBQuantizedTree, AABBQuantizedNode) + + public: + Point mCenterCoeff; + Point mExtentsCoeff; + }; + + class OPCODE_API AABBQuantizedNoLeafTree : public AABBOptimizedTree + { + IMPLEMENT_COLLISION_TREE(AABBQuantizedNoLeafTree, AABBQuantizedNoLeafNode) + + public: + Point mCenterCoeff; + Point mExtentsCoeff; + }; + +#endif // __OPC_OPTIMIZEDTREE_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_Picking.cpp b/libs/ode-0.16.1/OPCODE/OPC_Picking.cpp new file mode 100644 index 0000000..0f4c6c3 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Picking.cpp @@ -0,0 +1,183 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code to perform "picking". + * \file OPC_Picking.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +#ifdef OPC_RAYHIT_CALLBACK + +/* + Possible RayCollider usages: + - boolean query (shadow feeler) + - closest hit + - all hits + - number of intersection (boolean) + +*/ + +bool Opcode::SetupAllHits(RayCollider& collider, CollisionFaces& contacts) +{ + struct Local + { + static void AllContacts(const CollisionFace& hit, void* user_data) + { + CollisionFaces* CF = (CollisionFaces*)user_data; + CF->AddFace(hit); + } + }; + + collider.SetFirstContact(false); + collider.SetHitCallback(Local::AllContacts); + collider.SetUserData(&contacts); + return true; +} + +bool Opcode::SetupClosestHit(RayCollider& collider, CollisionFace& closest_contact) +{ + struct Local + { + static void ClosestContact(const CollisionFace& hit, void* user_data) + { + CollisionFace* CF = (CollisionFace*)user_data; + if(hit.mDistance<CF->mDistance) *CF = hit; + } + }; + + collider.SetFirstContact(false); + collider.SetHitCallback(Local::ClosestContact); + collider.SetUserData(&closest_contact); + closest_contact.mDistance = MAX_FLOAT; + return true; +} + +bool Opcode::SetupShadowFeeler(RayCollider& collider) +{ + collider.SetFirstContact(true); + collider.SetHitCallback(null); + return true; +} + +bool Opcode::SetupInOutTest(RayCollider& collider) +{ + collider.SetFirstContact(false); + collider.SetHitCallback(null); + // Results with collider.GetNbIntersections() + return true; +} + +bool Opcode::Picking( +CollisionFace& picked_face, +const Ray& world_ray, const Model& model, const Matrix4x4* world, +float min_dist, float max_dist, const Point& view_point, CullModeCallback callback, void* user_data) +{ + struct Local + { + struct CullData + { + CollisionFace* Closest; + float MinLimit; + CullModeCallback Callback; + void* UserData; + Point ViewPoint; + const MeshInterface* IMesh; + }; + + // Called for each stabbed face + static void RenderCullingCallback(const CollisionFace& hit, void* user_data) + { + CullData* Data = (CullData*)user_data; + + // Discard face if we already have a closer hit + if(hit.mDistance>=Data->Closest->mDistance) return; + + // Discard face if hit point is smaller than min limit. This mainly happens when the face is in front + // of the near clip plane (or straddles it). If we keep the face nonetheless, the user can select an + // object that he may not even be able to see, which is very annoying. + if(hit.mDistance<=Data->MinLimit) return; + + // This is the index of currently stabbed triangle. + udword StabbedFaceIndex = hit.mFaceID; + + // We may keep it or not, depending on backface culling + bool KeepIt = true; + + // Catch *render* cull mode for this face + CullMode CM = (Data->Callback)(StabbedFaceIndex, Data->UserData); + + if(CM!=CULLMODE_NONE) // Don't even compute culling for double-sided triangles + { + // Compute backface culling for current face + + VertexPointers VP; + ConversionArea VC; + Data->IMesh->GetTriangle(VP, StabbedFaceIndex, VC); + if(VP.BackfaceCulling(Data->ViewPoint)) + { + if(CM==CULLMODE_CW) KeepIt = false; + } + else + { + if(CM==CULLMODE_CCW) KeepIt = false; + } + } + + if(KeepIt) *Data->Closest = hit; + } + }; + + RayCollider RC; + RC.SetMaxDist(max_dist); + RC.SetTemporalCoherence(false); + RC.SetCulling(false); // We need all faces since some of them can be double-sided + RC.SetFirstContact(false); + RC.SetHitCallback(Local::RenderCullingCallback); + + picked_face.mFaceID = INVALID_ID; + picked_face.mDistance = MAX_FLOAT; + picked_face.mU = 0.0f; + picked_face.mV = 0.0f; + + Local::CullData Data; + Data.Closest = &picked_face; + Data.MinLimit = min_dist; + Data.Callback = callback; + Data.UserData = user_data; + Data.ViewPoint = view_point; + Data.IMesh = model.GetMeshInterface(); + + if(world) + { + // Get matrices + Matrix4x4 InvWorld; + InvertPRMatrix(InvWorld, *world); + + // Compute camera position in mesh space + Data.ViewPoint *= InvWorld; + } + + RC.SetUserData(&Data); + if(RC.Collide(world_ray, model, world)) + { + return picked_face.mFaceID!=INVALID_ID; + } + return false; +} + +#endif diff --git a/libs/ode-0.16.1/OPCODE/OPC_Picking.h b/libs/ode-0.16.1/OPCODE/OPC_Picking.h new file mode 100644 index 0000000..d22fa38 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Picking.h @@ -0,0 +1,45 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code to perform "picking". + * \file OPC_Picking.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_PICKING_H__ +#define __OPC_PICKING_H__ + +#ifdef OPC_RAYHIT_CALLBACK + + enum CullMode + { + CULLMODE_NONE = 0, + CULLMODE_CW = 1, + CULLMODE_CCW = 2 + }; + + typedef CullMode (*CullModeCallback)(udword triangle_index, void* user_data); + + OPCODE_API bool SetupAllHits (RayCollider& collider, CollisionFaces& contacts); + OPCODE_API bool SetupClosestHit (RayCollider& collider, CollisionFace& closest_contact); + OPCODE_API bool SetupShadowFeeler (RayCollider& collider); + OPCODE_API bool SetupInOutTest (RayCollider& collider); + + OPCODE_API bool Picking( + CollisionFace& picked_face, + const Ray& world_ray, const Model& model, const Matrix4x4* world, + float min_dist, float max_dist, const Point& view_point, CullModeCallback callback, void* user_data); +#endif + +#endif //__OPC_PICKING_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_PlanesAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_PlanesAABBOverlap.h new file mode 100644 index 0000000..5d7576e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_PlanesAABBOverlap.h @@ -0,0 +1,50 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Planes-AABB overlap test. + * - original code by Ville Miettinen, from Umbra/dPVS (released on the GD-Algorithms mailing list) + * - almost used "as-is", I even left the comments (hence the frustum-related notes) + * + * \param center [in] box center + * \param extents [in] box extents + * \param out_clip_mask [out] bitmask for active planes + * \param in_clip_mask [in] bitmask for active planes + * \return TRUE if boxes overlap planes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL PlanesCollider::PlanesAABBOverlap(const Point& center, const Point& extents, udword& out_clip_mask, udword in_clip_mask) +{ + // Stats + mNbVolumeBVTests++; + + const Plane* p = mPlanes; + + // Evaluate through all active frustum planes. We determine the relation + // between the AABB and a plane by using the concept of "near" and "far" + // vertices originally described by Zhang (and later by Möller). Our + // variant here uses 3 fabs ops, 6 muls, 7 adds and two floating point + // comparisons per plane. The routine early-exits if the AABB is found + // to be outside any of the planes. The loop also constructs a new output + // clip mask. Most FPUs have a native single-cycle fabsf() operation. + + udword Mask = 1; // current mask index (1,2,4,8,..) + udword TmpOutClipMask = 0; // initialize output clip mask into empty. + + while(Mask<=in_clip_mask) // keep looping while we have active planes left... + { + if(in_clip_mask & Mask) // if clip plane is active, process it.. + { + float NP = extents.x*fabsf(p->n.x) + extents.y*fabsf(p->n.y) + extents.z*fabsf(p->n.z); // ### fabsf could be precomputed + float MP = center.x*p->n.x + center.y*p->n.y + center.z*p->n.z + p->d; + + if(NP < MP) // near vertex behind the clip plane... + return FALSE; // .. so there is no intersection.. + if((-NP) < MP) // near and far vertices on different sides of plane.. + TmpOutClipMask |= Mask; // .. so update the clip mask... + } + Mask+=Mask; // mk = (1<<plane) + p++; // advance to next plane + } + + out_clip_mask = TmpOutClipMask; // copy output value (temp used to resolve aliasing!) + return TRUE; // indicate that AABB intersects frustum +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_PlanesCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_PlanesCollider.cpp new file mode 100644 index 0000000..ac12042 --- /dev/null +++ b/libs/ode-0.16.1/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, mVC); \ + /* Perform triangle-box overlap test */ \ + if(PlanesTriOverlap(clip_mask)) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +PlanesCollider::PlanesCollider() : + mNbPlanes (0), + mPlanes (null) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 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<<nb_planes)-1; + + 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(), PlaneMask); + else _Collide(Tree->GetNodes(), PlaneMask); + } + else + { + const AABBNoLeafTree* Tree = static_cast<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 = static_cast<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 = static_cast<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;i<nb_planes;i++) mPlanes[i] = planes[i] * InvWorldM; + for(udword i=0;i<nb_planes;i++) TransformPlane(mPlanes[i], planes[i], InvWorldM); + } + else CopyMemory(mPlanes, planes, nb_planes*sizeof(Plane)); + + // 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 planes (and set contact status if needed) + udword clip_mask = (1<<mNbPlanes)-1; + PLANES_PRIM(udword(0), OPC_CONTACT) + + // Return immediately regardless of status + return TRUE; + } + } + + // 4) 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 planes (and set contact status if needed) + udword clip_mask = (1<<mNbPlanes)-1; + PLANES_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 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<<mNbPlanes)-1; + for(udword i=0;i<Nb;i++) + { + PLANES_PRIM(i, OPC_CONTACT) + } + return true; + } + + // Override destination array since we're only going to get leaf boxes here + mTouchedBoxes.Reset(); + mTouchedPrimitives = &mTouchedBoxes; + + udword PlaneMask = (1<<nb_planes)-1; + + // 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(), PlaneMask); + } + else + { + const AABBNoLeafTree* Tree = static_cast<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 = 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(), PlaneMask); + } + else + { + const AABBCollisionTree* Tree = static_cast<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<<mNbPlanes)-1; + 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++; + PLANES_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + PLANES_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_PlanesCollider.h b/libs/ode-0.16.1/OPCODE/OPC_PlanesCollider.h new file mode 100644 index 0000000..872f8c5 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_PlanesCollider.h @@ -0,0 +1,122 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * 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.h + * \author Pierre Terdiman + * \date January, 1st, 2002 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_PLANESCOLLIDER_H__ +#define __OPC_PLANESCOLLIDER_H__ + + struct OPCODE_API PlanesCache : VolumeCache + { + PlanesCache() + { + } + }; + + class OPCODE_API PlanesCollider : public VolumeCollider + { + public: + // Constructor / Destructor + PlanesCollider(); + virtual ~PlanesCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * 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 Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm=null); + + // Mutant box-with-planes collision queries + inline_ bool Collide(PlanesCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null) + { + Plane PL[6]; + + if(worldb) + { + // Create a new OBB in world space + OBB WorldBox; + box.Rotate(*worldb, WorldBox); + // Compute planes from the sides of the box + WorldBox.ComputePlanes(PL); + } + else + { + // Compute planes from the sides of the box + box.ComputePlanes(PL); + } + + // Collide with box planes + return Collide(cache, PL, 6, model, worldm); + } + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Planes in model space + udword mNbPlanes; + Plane* mPlanes; + // Leaf description + VertexPointers mVP; + ConversionArea mVC; + // Internal methods + void _Collide(const AABBCollisionNode* node, udword clip_mask); + void _Collide(const AABBNoLeafNode* node, udword clip_mask); + void _Collide(const AABBQuantizedNode* node, udword clip_mask); + void _Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask); + // Overlap tests + inline_ BOOL PlanesAABBOverlap(const Point& center, const Point& extents, udword& out_clip_mask, udword in_clip_mask); + inline_ BOOL PlanesTriOverlap(udword in_clip_mask); + // Init methods + BOOL InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridPlanesCollider : public PlanesCollider + { + public: + // Constructor / Destructor + HybridPlanesCollider(); + virtual ~HybridPlanesCollider(); + + bool Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_PLANESCOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_PlanesTriOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_PlanesTriOverlap.h new file mode 100644 index 0000000..3f9b39f --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_PlanesTriOverlap.h @@ -0,0 +1,40 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Planes-triangle overlap test. + * \param in_clip_mask [in] bitmask for active planes + * \return TRUE if triangle overlap planes + * \warning THIS IS A CONSERVATIVE TEST !! Some triangles will be returned as intersecting, while they're not! + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL PlanesCollider::PlanesTriOverlap(udword in_clip_mask) +{ + // Stats + mNbVolumePrimTests++; + + const Plane* p = mPlanes; + udword Mask = 1; + + while(Mask<=in_clip_mask) + { + if(in_clip_mask & Mask) + { + float d0 = p->Distance(*mVP.Vertex[0]); + float d1 = p->Distance(*mVP.Vertex[1]); + float d2 = p->Distance(*mVP.Vertex[2]); + if(d0>0.0f && d1>0.0f && d2>0.0f) return FALSE; +// if(!(IR(d0)&SIGN_BITMASK) && !(IR(d1)&SIGN_BITMASK) && !(IR(d2)&SIGN_BITMASK)) return FALSE; + } + Mask+=Mask; + p++; + } +/* + for(udword i=0;i<6;i++) + { + float d0 = p[i].Distance(mLeafVerts[0]); + float d1 = p[i].Distance(mLeafVerts[1]); + float d2 = p[i].Distance(mLeafVerts[2]); + if(d0>0.0f && d1>0.0f && d2>0.0f) return false; + } +*/ + return TRUE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_RayAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_RayAABBOverlap.h new file mode 100644 index 0000000..a8162bf --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_RayAABBOverlap.h @@ -0,0 +1,63 @@ +// Opcode 1.1: ray-AABB overlap tests based on Woo's code +// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem +// +// The point of intersection is not computed anymore. The distance to impact is not needed anymore +// since we now have two different queries for segments or rays. + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a segment-AABB overlap test using the separating axis theorem. Segment is cached within the class. + * \param center [in] AABB center + * \param extents [in] AABB extents + * \return true on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::SegmentAABBOverlap(const Point& center, const Point& extents) +{ + // Stats + mNbRayBVTests++; + + float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE; + float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE; + float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE; + + float f; + f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; + f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; + f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; + + return TRUE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class. + * \param center [in] AABB center + * \param extents [in] AABB extents + * \return true on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::RayAABBOverlap(const Point& center, const Point& extents) +{ + // Stats + mNbRayBVTests++; + +// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE; +// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE; +// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE; + + float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE; + float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE; + float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE; + +// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE; +// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE; +// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE; + + float f; + f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; + f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; + f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; + + return TRUE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_RayCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_RayCollider.cpp new file mode 100644 index 0000000..6a81857 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_RayCollider.cpp @@ -0,0 +1,764 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a ray collider. + * \file OPC_RayCollider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a ray-vs-tree collider. + * This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision. + * + * HIGHER DISTANCE BOUND: + * + * If P0 and P1 are two 3D points, let's define: + * - d = distance between P0 and P1 + * - Origin = P0 + * - Direction = (P1 - P0) / d = normalized direction vector + * - A parameter t such as a point P on the line (P0,P1) is P = Origin + t * Direction + * - t = 0 --> P = P0 + * - t = d --> P = P1 + * + * Then we can define a general "ray" as: + * + * struct Ray + * { + * Point Origin; + * Point Direction; + * }; + * + * But it actually maps three different things: + * - a segment, when 0 <= t <= d + * - a half-line, when 0 <= t < +infinity, or -infinity < t <= d + * - a line, when -infinity < t < +infinity + * + * In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity. + * We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin. + * + * In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist(). + * + * Query |segment |half-line |line + * --------|-------------------|---------------|---------------- + * Usages |-shadow feelers |-raytracing |- + * |-sweep tests |-in/out tests | + * + * FIRST CONTACT: + * + * - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact(). + * - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where + * you want to know whether the path to the light is free or not (a boolean answer is enough). + * - In "all contacts" mode we return all faces hit by the ray. + * + * TEMPORAL COHERENCE: + * + * - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence(). + * - It currently only works in "first contact" mode. + * - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries + * start by colliding the ray against the cached triangle. If they still collide, we return immediately. + * + * CLOSEST HIT: + * + * - You can enable or disable "closest hit" with RayCollider::SetClosestHit(). + * - It currently only works in "all contacts" mode. + * - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported. + * + * BACKFACE CULLING: + * + * - You can enable or disable backface culling with RayCollider::SetCulling(). + * - If culling is enabled, ray will not hit back faces (only front faces). + * + * + * + * \class RayCollider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class describes a face hit by a ray or segment. + * This is a particular class dedicated to stabbing queries. + * + * \class CollisionFace + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * This class is a dedicated collection of CollisionFace. + * + * \class CollisionFaces + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +#include "OPC_RayAABBOverlap.h" +#include "OPC_RayTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + mNbIntersections++; \ + /* Set contact status */ \ + mFlags |= flag; \ + /* In any case the contact has been found and recorded in mStabbedFace */ \ + mStabbedFace.mFaceID = prim_index; + +#ifdef OPC_RAYHIT_CALLBACK + + #define HANDLE_CONTACT(prim_index, flag) \ + SET_CONTACT(prim_index, flag) \ + \ + if(mHitCallback) (mHitCallback)(mStabbedFace, mUserData); + + #define UPDATE_CACHE \ + if(cache && GetContactStatus()) \ + { \ + *cache = mStabbedFace.mFaceID; \ + } +#else + + #define HANDLE_CONTACT(prim_index, flag) \ + SET_CONTACT(prim_index, flag) \ + \ + /* Now we can also record it in mStabbedFaces if available */ \ + if(mStabbedFaces) \ + { \ + /* If we want all faces or if that's the first one we hit */ \ + if(!mClosestHit || !mStabbedFaces->GetNbFaces()) \ + { \ + mStabbedFaces->AddFace(mStabbedFace); \ + } \ + else \ + { \ + /* We only keep closest hit */ \ + CollisionFace* Current = const_cast<CollisionFace*>(mStabbedFaces->GetFaces()); \ + if(Current && mStabbedFace.mDistance<Current->mDistance) \ + { \ + *Current = mStabbedFace; \ + } \ + } \ + } + + #define UPDATE_CACHE \ + if(cache && GetContactStatus() && mStabbedFaces) \ + { \ + const CollisionFace* Current = mStabbedFaces->GetFaces(); \ + if(Current) *cache = Current->mFaceID; \ + else *cache = INVALID_ID; \ + } +#endif + +#define SEGMENT_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ + \ + /* Perform ray-tri overlap test and return */ \ + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + /* Intersection point is valid if dist < segment's length */ \ + /* We know dist>0 so we can use integers */ \ + if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) \ + { \ + HANDLE_CONTACT(prim_index, flag) \ + } \ + } + +#define RAY_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ + \ + /* Perform ray-tri overlap test and return */ \ + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + HANDLE_CONTACT(prim_index, flag) \ + } + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RayCollider::RayCollider() : +#ifdef OPC_RAYHIT_CALLBACK + mHitCallback (null), + mUserData (0), +#else + mStabbedFaces (null), + mClosestHit (false), +#endif + mNbRayBVTests (0), + mNbRayPrimTests (0), + mNbIntersections (0), + mMaxDist (MAX_FLOAT), + mCulling (true) + +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +RayCollider::~RayCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 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* RayCollider::ValidateSettings() +{ + if(mMaxDist<0.0f) return "Higher distance bound must be positive!"; + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; +#ifndef OPC_RAYHIT_CALLBACK + if(mClosestHit && FirstContactEnabled()) return "Closest hit doesn't work with ""First contact"" mode!"; + if(TemporalCoherenceEnabled() && mClosestHit) return "Temporal coherence can't guarantee to report closest hit!"; +#endif + if(SkipPrimitiveTests()) return "SkipPrimitiveTests not possible for RayCollider ! (not implemented)"; + return null; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic stabbing query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - in the user-provided destination array + * + * \param world_ray [in] stabbing ray in world space + * \param model [in] Opcode model to collide with + * \param world [in] model's world matrix, or null + * \param cache [in] a possibly cached face index, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RayCollider::Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world, udword* cache) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(world_ray, world, cache)) 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 stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + else + { + const AABBNoLeafTree* Tree = static_cast<const AABBNoLeafTree *>(model.GetTree()); + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(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 stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + else + { + const AABBCollisionTree* Tree = static_cast<const AABBCollisionTree *>(model.GetTree()); + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); + else _RayStab(Tree->GetNodes()); + } + } + + // Update cache if needed + UPDATE_CACHE; + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes a stabbing query : + * - reset stats & contact status + * - compute ray in local space + * - check temporal coherence + * + * \param world_ray [in] stabbing ray in world space + * \param world [in] object's world matrix, or null + * \param face_id [in] index of previously stabbed triangle + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL RayCollider::InitQuery(const Ray& world_ray, const Matrix4x4* world, udword* face_id) +{ + // Reset stats & contact status + Collider::InitQuery(); + mNbRayBVTests = 0; + mNbRayPrimTests = 0; + mNbIntersections = 0; +#ifndef OPC_RAYHIT_CALLBACK + if(mStabbedFaces) mStabbedFaces->Reset(); +#endif + + // Compute ray in local space + // The (Origin/Dir) form is needed for the ray-triangle test anyway (even for segment tests) + if(world) + { + Matrix3x3 InvWorld = *world; + mDir = InvWorld * world_ray.mDir; + + Matrix4x4 World; + InvertPRMatrix(World, *world); + mOrigin = world_ray.mOrig * World; + } + else + { + mDir = world_ray.mDir; + mOrigin = world_ray.mOrig; + } + + // 4) Special case: 1-triangle meshes [Opcode 1.3] + if(mCurrentModel && mCurrentModel->HasSingleNode()) + { + // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. + if(!SkipPrimitiveTests()) + { + // Perform overlap test between the unique triangle and the ray (and set contact status if needed) + SEGMENT_PRIM(udword(0), OPC_CONTACT) + + // Return immediately regardless of status + return TRUE; + } + } + + // Check temporal coherence : + + // Test previously colliding primitives first + if(TemporalCoherenceEnabled() && FirstContactEnabled() && face_id && *face_id!=INVALID_ID) + { +#ifdef OLD_CODE +#ifndef OPC_RAYHIT_CALLBACK + if(!mClosestHit) +#endif + { + // Request vertices from the app + VertexPointers VP; + ConversionArea VC; + mIMesh->GetTriangle(VP, *face_id, VC); + // Perform ray-cached tri overlap test + if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) + { + // Intersection point is valid if: + // - distance is positive (else it can just be a face behind the orig point) + // - distance is smaller than a given max distance (useful for shadow feelers) +// if(mStabbedFace.mDistance>0.0f && mStabbedFace.mDistance<mMaxDist) + if(IR(mStabbedFace.mDistance)<IR(mMaxDist)) // The other test is already performed in RayTriOverlap + { + // Set contact status + mFlags |= OPC_TEMPORAL_CONTACT; + + mStabbedFace.mFaceID = *face_id; + +#ifndef OPC_RAYHIT_CALLBACK + if(mStabbedFaces) mStabbedFaces->AddFace(mStabbedFace); +#endif + return TRUE; + } + } + } +#else + // New code + // We handle both Segment/ray queries with the same segment code, and a possible infinite limit + SEGMENT_PRIM(*face_id, OPC_TEMPORAL_CONTACT) + + // Return immediately if possible + if(GetContactStatus()) return TRUE; +#endif + } + + // Precompute data (moved after temporal coherence since only needed for ray-AABB) + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) + { + // For Segment-AABB overlap + mData = 0.5f * mDir * mMaxDist; + mData2 = mOrigin + mData; + + // Precompute mFDir; + mFDir.x = fabsf(mData.x); + mFDir.y = fabsf(mData.y); + mFDir.z = fabsf(mData.z); + } + else + { + // For Ray-AABB overlap +// udword x = SIR(mDir.x)-1; +// udword y = SIR(mDir.y)-1; +// udword z = SIR(mDir.z)-1; +// mData.x = FR(x); +// mData.y = FR(y); +// mData.z = FR(z); + + // Precompute mFDir; + mFDir.x = fabsf(mDir.x); + mFDir.y = fabsf(mDir.y); + mFDir.z = fabsf(mDir.z); + } + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Stabbing query for vanilla AABB trees. + * \param world_ray [in] stabbing ray in world space + * \param tree [in] AABB tree + * \param box_indices [out] indices of stabbed boxes + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool RayCollider::Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices) +{ + // ### bad design here + + // 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 + // Basically this is only called to initialize precomputed data + if(InitQuery(world_ray)) return true; + + // Perform stabbing query + if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(tree, box_indices); + else _RayStab(tree, box_indices); + + return true; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBCollisionNode* node) +{ + // Perform Segment-AABB overlap test + if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->IsLeaf()) + { + SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + _SegmentStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(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 Segment-AABB overlap test + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + _SegmentStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBNoLeafNode* node) +{ + // Perform Segment-AABB overlap test + if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->HasPosLeaf()) + { + SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(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 Segment-AABB overlap test + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->HasPosLeaf()) + { + SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _SegmentStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for vanilla AABB trees. + * \param node [in] current collision node + * \param box_indices [out] indices of stabbed boxes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_SegmentStab(const AABBTreeNode* node, Container& box_indices) +{ + // Test the box against the segment + Point Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!SegmentAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _SegmentStab(node->GetPos(), box_indices); + _SegmentStab(node->GetNeg(), box_indices); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for normal AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBCollisionNode* node) +{ + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->IsLeaf()) + { + RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _RayStab(node->GetPos()); + + if(ContactFound()) return; + + _RayStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(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 Ray-AABB overlap test + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) + } + else + { + _RayStab(node->GetPos()); + + if(ContactFound()) return; + + _RayStab(node->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBNoLeafNode* node) +{ + // Perform Ray-AABB overlap test + if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + if(node->HasPosLeaf()) + { + RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for quantized no-leaf AABB trees. + * \param node [in] current collision node + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(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 Ray-AABB overlap test + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->HasPosLeaf()) + { + RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) + { + RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) + } + else _RayStab(node->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive stabbing query for vanilla AABB trees. + * \param node [in] current collision node + * \param box_indices [out] indices of stabbed boxes + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void RayCollider::_RayStab(const AABBTreeNode* node, Container& box_indices) +{ + // Test the box against the ray + Point Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!RayAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf()) + { + mFlags |= OPC_CONTACT; + box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _RayStab(node->GetPos(), box_indices); + _RayStab(node->GetNeg(), box_indices); + } +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_RayCollider.h b/libs/ode-0.16.1/OPCODE/OPC_RayCollider.h new file mode 100644 index 0000000..4a8ab7e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_RayCollider.h @@ -0,0 +1,224 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a ray collider. + * \file OPC_RayCollider.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_RAYCOLLIDER_H__ +#define __OPC_RAYCOLLIDER_H__ + + class OPCODE_API CollisionFace + { + public: + //! Constructor + inline_ CollisionFace() {} + //! Destructor + inline_ ~CollisionFace() {} + + udword mFaceID; //!< Index of touched face + float mDistance; //!< Distance from collider to hitpoint + float mU, mV; //!< Impact barycentric coordinates + }; + + class OPCODE_API CollisionFaces : public Container + { + public: + //! Constructor + CollisionFaces() {} + //! Destructor + ~CollisionFaces() {} + + inline_ udword GetNbFaces() const { return GetNbEntries()>>2; } + inline_ const CollisionFace* GetFaces() const { return (const CollisionFace*)GetEntries(); } + + inline_ void Reset() { Container::Reset(); } + + inline_ void AddFace(const CollisionFace& face) { Add(face.mFaceID).Add(face.mDistance).Add(face.mU).Add(face.mV); } + }; + +#ifdef OPC_RAYHIT_CALLBACK + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * User-callback, called by OPCODE to record a hit. + * \param hit [in] current hit + * \param user_data [in] user-defined data from SetCallback() + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + typedef void (*HitCallback) (const CollisionFace& hit, void* user_data); +#endif + + class OPCODE_API RayCollider : public Collider + { + public: + // Constructor / Destructor + RayCollider(); + virtual ~RayCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic stabbing query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - in the user-provided destination array + * + * \param world_ray [in] stabbing ray in world space + * \param model [in] Opcode model to collide with + * \param world [in] model's world matrix, or null + * \param cache [in] a possibly cached face index, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world=null, udword* cache=null); + // + bool Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices); + // Settings + +#ifndef OPC_RAYHIT_CALLBACK + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: enable or disable "closest hit" mode. + * \param flag [in] true to report closest hit only + * \see SetCulling(bool flag) + * \see SetMaxDist(float max_dist) + * \see SetDestination(StabbedFaces* sf) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetClosestHit(bool flag) { mClosestHit = flag; } +#endif + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: enable or disable backface culling. + * \param flag [in] true to enable backface culling + * \see SetClosestHit(bool flag) + * \see SetMaxDist(float max_dist) + * \see SetDestination(StabbedFaces* sf) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetCulling(bool flag) { mCulling = flag; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: sets the higher distance bound. + * \param max_dist [in] higher distance bound. Default = maximal value, for ray queries (else segment) + * \see SetClosestHit(bool flag) + * \see SetCulling(bool flag) + * \see SetDestination(StabbedFaces* sf) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetMaxDist(float max_dist=MAX_FLOAT) { mMaxDist = max_dist; } + +#ifdef OPC_RAYHIT_CALLBACK + inline_ void SetHitCallback(HitCallback cb) { mHitCallback = cb; } + inline_ void SetUserData(void* user_data) { mUserData = user_data; } +#else + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: sets the destination array for stabbed faces. + * \param cf [in] destination array, filled during queries + * \see SetClosestHit(bool flag) + * \see SetCulling(bool flag) + * \see SetMaxDist(float max_dist) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetDestination(CollisionFaces* cf) { mStabbedFaces = cf; } +#endif + // Stats + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Ray-BV overlap tests after a collision query. + * \see GetNbRayPrimTests() + * \see GetNbIntersections() + * \return the number of Ray-BV tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbRayBVTests() const { return mNbRayBVTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Ray-Triangle overlap tests after a collision query. + * \see GetNbRayBVTests() + * \see GetNbIntersections() + * \return the number of Ray-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbRayPrimTests() const { return mNbRayPrimTests; } + + // In-out test + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of intersection found after a collision query. Can be used for in/out tests. + * \see GetNbRayBVTests() + * \see GetNbRayPrimTests() + * \return the number of valid intersections during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbIntersections() const { return mNbIntersections; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Ray in local space + Point mOrigin; //!< Ray origin + Point mDir; //!< Ray direction (normalized) + Point mFDir; //!< fabsf(mDir) + Point mData, mData2; + // Stabbed faces + CollisionFace mStabbedFace; //!< Current stabbed face +#ifdef OPC_RAYHIT_CALLBACK + HitCallback mHitCallback; //!< Callback used to record a hit + void* mUserData; //!< User-defined data +#else + CollisionFaces* mStabbedFaces; //!< List of stabbed faces + bool mClosestHit; //!< Report closest hit only +#endif + // Stats + udword mNbRayBVTests; //!< Number of Ray-BV tests + udword mNbRayPrimTests; //!< Number of Ray-Primitive tests + // In-out test + udword mNbIntersections; //!< Number of valid intersections + // Dequantization coeffs + Point mCenterCoeff; + Point mExtentsCoeff; + // Settings + float mMaxDist; //!< Valid segment on the ray + + bool mCulling; //!< Stab culled faces or not + // Internal methods + void _SegmentStab(const AABBCollisionNode* node); + void _SegmentStab(const AABBNoLeafNode* node); + void _SegmentStab(const AABBQuantizedNode* node); + void _SegmentStab(const AABBQuantizedNoLeafNode* node); + void _SegmentStab(const AABBTreeNode* node, Container& box_indices); + void _RayStab(const AABBCollisionNode* node); + void _RayStab(const AABBNoLeafNode* node); + void _RayStab(const AABBQuantizedNode* node); + void _RayStab(const AABBQuantizedNoLeafNode* node); + void _RayStab(const AABBTreeNode* node, Container& box_indices); + // Overlap tests + inline_ BOOL RayAABBOverlap(const Point& center, const Point& extents); + inline_ BOOL SegmentAABBOverlap(const Point& center, const Point& extents); + inline_ BOOL RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); + // Init methods + BOOL InitQuery(const Ray& world_ray, const Matrix4x4* world=null, udword* face_id=null); + }; + +#endif // __OPC_RAYCOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_RayTriOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_RayTriOverlap.h new file mode 100644 index 0000000..04110a1 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_RayTriOverlap.h @@ -0,0 +1,89 @@ +#define LOCAL_EPSILON 0.000001f + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a ray-triangle intersection test. + * Original code from Tomas Möller's "Fast Minimum Storage Ray-Triangle Intersection". + * It's been optimized a bit with integer code, and modified to return a non-intersection if distance from + * ray origin to triangle is negative. + * + * \param vert0 [in] triangle vertex + * \param vert1 [in] triangle vertex + * \param vert2 [in] triangle vertex + * \return true on overlap. mStabbedFace is filled with relevant info. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) +{ + // Stats + mNbRayPrimTests++; + + // Find vectors for two edges sharing vert0 + Point edge1 = vert1 - vert0; + Point edge2 = vert2 - vert0; + + // Begin calculating determinant - also used to calculate U parameter + Point pvec = mDir^edge2; + + // If determinant is near zero, ray lies in plane of triangle + float det = edge1|pvec; + + if(mCulling) + { + if(det <= LOCAL_EPSILON * FCMin2(edge1.SquareMagnitude(), edge2.SquareMagnitude())) return FALSE; + // From here, det is > 0. So we can use integer cmp. + + // Calculate distance from vert0 to ray origin + Point tvec = mOrigin - vert0; + + // Calculate U parameter and test bounds + mStabbedFace.mU = tvec|pvec; +// if(IR(u)&0x80000000 || u>det) return FALSE; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det)) return FALSE; + + // Prepare to test V parameter + Point qvec = tvec^edge1; + + // Calculate V parameter and test bounds + mStabbedFace.mV = mDir|qvec; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det) return FALSE; + + // Calculate t, scale parameters, ray intersects triangle + mStabbedFace.mDistance = edge2|qvec; + // Det > 0 so we can early exit here + // Intersection point is valid if distance is positive (else it can just be a face behind the orig point) + if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; + // Else go on + float OneOverDet = 1.0f / det; + mStabbedFace.mDistance *= OneOverDet; + mStabbedFace.mU *= OneOverDet; + mStabbedFace.mV *= OneOverDet; + } + else + { + // the non-culling branch + if(FastFabs(det) <= LOCAL_EPSILON * FCMin2(edge1.SquareMagnitude(), edge2.SquareMagnitude())) return FALSE; + float OneOverDet = 1.0f / det; + + // Calculate distance from vert0 to ray origin + Point tvec = mOrigin - vert0; + + // Calculate U parameter and test bounds + mStabbedFace.mU = (tvec|pvec) * OneOverDet; +// if(IR(u)&0x80000000 || u>1.0f) return FALSE; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0) return FALSE; + + // prepare to test V parameter + Point qvec = tvec^edge1; + + // Calculate V parameter and test bounds + mStabbedFace.mV = (mDir|qvec) * OneOverDet; + if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f) return FALSE; + + // Calculate t, ray intersects triangle + mStabbedFace.mDistance = (edge2|qvec) * OneOverDet; + // Intersection point is valid if distance is positive (else it can just be a face behind the orig point) + if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; + } + return TRUE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_Settings.h b/libs/ode-0.16.1/OPCODE/OPC_Settings.h new file mode 100644 index 0000000..7509888 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_Settings.h @@ -0,0 +1,49 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains compilation flags. + * \file OPC_Settings.h + * \author Pierre Terdiman + * \date May, 12, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_SETTINGS_H__ +#define __OPC_SETTINGS_H__ + + //! Use CPU comparisons (comment that line to use standard FPU compares) + //#define OPC_CPU_COMPARE + + //! Use FCOMI / FCMOV on Pentium-Pro based processors (comment that line to use plain C++) + #define OPC_USE_FCOMI + + //! Use epsilon value in tri-tri overlap test + #define OPC_TRITRI_EPSILON_TEST + + //! Use tree-coherence or not [not implemented yet] +// #define OPC_USE_TREE_COHERENCE + + //! Use callbacks or direct pointers. Using callbacks might be a bit slower (but probably not much) +// #define OPC_USE_CALLBACKS + + //! Support triangle and vertex strides or not. Using strides might be a bit slower (but probably not much) + #define OPC_USE_STRIDE + + //! Discard negative pointer in vanilla trees + #define OPC_NO_NEG_VANILLA_TREE + + //! Use a callback in the ray collider + //#define OPC_RAYHIT_CALLBACK + + // NB: no compilation flag to enable/disable stats since they're actually needed in the box/box overlap test + +#endif //__OPC_SETTINGS_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_SphereAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_SphereAABBOverlap.h new file mode 100644 index 0000000..2278bc0 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_SphereAABBOverlap.h @@ -0,0 +1,128 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Sphere-AABB overlap test, based on Jim Arvo's code. + * \param center [in] box center + * \param extents [in] box extents + * \return TRUE on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL SphereCollider::SphereAABBOverlap(const Point& center, const Point& extents) +{ + // Stats + mNbVolumeBVTests++; + + float d = 0.0f; + + //find the square of the distance + //from the sphere to the box +#ifdef OLDIES + for(udword i=0;i<3;i++) + { + float tmp = mCenter[i] - center[i]; + float s = tmp + extents[i]; + + if(s<0.0f) d += s*s; + else + { + s = tmp - extents[i]; + if(s>0.0f) d += s*s; + } + } +#endif + +//#ifdef NEW_TEST + +// float tmp = mCenter.x - center.x; +// float s = tmp + extents.x; + + float tmp,s; + + tmp = mCenter.x - center.x; + s = tmp + extents.x; + + if(s<0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + else + { + s = tmp - extents.x; + if(s>0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + } + + tmp = mCenter.y - center.y; + s = tmp + extents.y; + + if(s<0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + else + { + s = tmp - extents.y; + if(s>0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + } + + tmp = mCenter.z - center.z; + s = tmp + extents.z; + + if(s<0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + else + { + s = tmp - extents.z; + if(s>0.0f) + { + d += s*s; + if(d>mRadius2) return FALSE; + } + } +//#endif + +#ifdef OLDIES +// Point Min = center - extents; +// Point Max = center + extents; + + float d = 0.0f; + + //find the square of the distance + //from the sphere to the box + for(udword i=0;i<3;i++) + { +float Min = center[i] - extents[i]; + +// if(mCenter[i]<Min[i]) + if(mCenter[i]<Min) + { +// float s = mCenter[i] - Min[i]; + float s = mCenter[i] - Min; + d += s*s; + } + else + { +float Max = center[i] + extents[i]; + +// if(mCenter[i]>Max[i]) + if(mCenter[i]>Max) + { + float s = mCenter[i] - Max; + d += s*s; + } + } + } +#endif + return d <= mRadius2; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.cpp new file mode 100644 index 0000000..e2406ec --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.cpp @@ -0,0 +1,739 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a sphere collider. + * \file OPC_SphereCollider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a sphere-vs-tree collider. + * This class performs a collision test between a sphere and an AABB tree. You can use this to do a standard player vs world collision, + * in a Nettle/Telemachos way. It doesn't suffer from all reported bugs in those two classic codes - the "new" one by Paul Nettle is a + * debuggued version I think. Collision response can be driven by reported collision data - it works extremely well for me. In sake of + * efficiency, all meshes (that is, all AABB trees) should of course also be kept in an extra hierarchical structure (octree, whatever). + * + * \class SphereCollider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +#include "OPC_SphereAABBOverlap.h" +#include "OPC_SphereTriOverlap.h" + +#define SET_CONTACT(prim_index, flag) \ + /* Set contact status */ \ + mFlags |= flag; \ + mTouchedPrimitives->Add(udword(prim_index)); + +//! Sphere-triangle overlap test +#define SPHERE_PRIM(prim_index, flag) \ + /* Request vertices from the app */ \ + VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ + \ + /* Perform sphere-tri overlap test */ \ + if(SphereTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ + { \ + SET_CONTACT(prim_index, flag) \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +SphereCollider::SphereCollider() +{ + mCenter.Zero(); + mRadius2 = 0.0f; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +SphereCollider::~SphereCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a sphere cache + * \param sphere [in] collision sphere in local space + * \param model [in] Opcode model to collide with + * \param worlds [in] sphere's world matrix, or null + * \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 SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds, const Matrix4x4* worldm) +{ + // Checkings + if(!Setup(&model)) return false; + + // Init collision query + if(InitQuery(cache, sphere, worlds, 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 + for(udword i=0;i<Nb;i++) + { + SPHERE_PRIM(i, OPC_CONTACT) + } + 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 + * - setup matrices + * - check temporal coherence + * + * \param cache [in/out] a sphere cache + * \param sphere [in] sphere in local space + * \param worlds [in] sphere's world matrix, or null + * \param worldm [in] model's world matrix, or null + * \return TRUE if we can return immediately + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +BOOL SphereCollider::InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds, const Matrix4x4* worldm) +{ + // 1) Call the base method + VolumeCollider::InitQuery(); + + // 2) Compute sphere in model space: + // - Precompute R^2 + mRadius2 = sphere.mRadius * sphere.mRadius; + // - Compute center position + mCenter = sphere.mCenter; + // -> to world space + if(worlds) mCenter *= *worlds; + // -> to model space + if(worldm) + { + // Invert model matrix + Matrix4x4 InvWorldM; + InvertPRMatrix(InvWorldM, *worldm); + + mCenter *= InvWorldM; + } + + // 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 sphere (and set contact status if needed) + SPHERE_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 sphere (and set contact status if needed) + SPHERE_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 sphere N(ew) against the previous fat sphere P(revious): + float r = sqrtf(cache.FatRadius2) - sphere.mRadius; + if(IsCacheValid(cache) && cache.Center.SquareDistance(mCenter) < r*r) + { + // - 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 sphere so that coherence will work for subsequent frames + mRadius2 *= cache.FatCoeff; +// mRadius2 = (sphere.mRadius * cache.FatCoeff)*(sphere.mRadius * cache.FatCoeff); + + // Update cache with query data (signature for cached faces) + cache.Center = mCenter; + cache.FatRadius2 = mRadius2; + } + } + } + else + { + // Here we don't use temporal coherence => do a normal query + mTouchedPrimitives->Reset(); + } + + return FALSE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for vanilla AABB trees. + * \param cache [in/out] a sphere cache + * \param sphere [in] collision sphere in world space + * \param tree [in] AABB tree + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, 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, sphere)) return true; + + // Perform collision query + _Collide(tree); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the sphere 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 sphere contains the whole box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL SphereCollider::SphereContainsBox(const Point& bc, const Point& be) +{ + // I assume if all 8 box vertices are inside the sphere, so does the whole box. + // Sounds ok but maybe there's a better way? + Point p; + p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z+be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z-be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; + + return TRUE; +} + +#define TEST_BOX_IN_SPHERE(center, extents) \ + if(SphereContainsBox(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 SphereCollider::_Collide(const AABBCollisionNode* node) +{ + // Perform Sphere-AABB overlap test + if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->IsLeaf()) + { + SPHERE_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 SphereCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) +{ + // Perform Sphere-AABB overlap test + if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_SPHERE(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 SphereCollider::_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 Sphere-AABB overlap test + if(!SphereAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_SPHERE(Center, Extents) + + if(node->IsLeaf()) + { + SPHERE_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 SphereCollider::_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 Sphere-AABB overlap test + if(!SphereAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_SPHERE(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 SphereCollider::_Collide(const AABBNoLeafNode* node) +{ + // Perform Sphere-AABB overlap test + if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) + + if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { SPHERE_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 SphereCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) +{ + // Perform Sphere-AABB overlap test + if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; + + TEST_BOX_IN_SPHERE(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 SphereCollider::_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 Sphere-AABB overlap test + if(!SphereAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_SPHERE(Center, Extents) + + if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } + else _Collide(node->GetPos()); + + if(ContactFound()) return; + + if(node->HasNegLeaf()) { SPHERE_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 SphereCollider::_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 Sphere-AABB overlap test + if(!SphereAABBOverlap(Center, Extents)) return; + + TEST_BOX_IN_SPHERE(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 SphereCollider::_Collide(const AABBTreeNode* node) +{ + // Perform Sphere-AABB overlap test + Point Center, Extents; + node->GetAABB()->GetCenter(Center); + node->GetAABB()->GetExtents(Extents); + if(!SphereAABBOverlap(Center, Extents)) return; + + if(node->IsLeaf() || SphereContainsBox(Center, Extents)) + { + mFlags |= OPC_CONTACT; + mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); + } + else + { + _Collide(node->GetPos()); + _Collide(node->GetNeg()); + } +} + + + + + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridSphereCollider::HybridSphereCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +HybridSphereCollider::~HybridSphereCollider() +{ +} + +bool HybridSphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds, 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, sphere, worlds, 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 + for(udword i=0;i<Nb;i++) + { + SPHERE_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++; + SPHERE_PRIM(TriangleIndex, OPC_CONTACT) + } + } + else + { + udword BaseIndex = CurrentLeaf.GetTriangleIndex(); + + // Loop through triangles and test each of them + while(NbTris--) + { + udword TriangleIndex = BaseIndex++; + SPHERE_PRIM(TriangleIndex, OPC_CONTACT) + } + } + } + } + + return true; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.h b/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.h new file mode 100644 index 0000000..ac6495e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.h @@ -0,0 +1,96 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a sphere collider. + * \file OPC_SphereCollider.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_SPHERECOLLIDER_H__ +#define __OPC_SPHERECOLLIDER_H__ + + struct OPCODE_API SphereCache : VolumeCache + { + SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {} + ~SphereCache() {} + + // Cached faces signature + Point Center; //!< Sphere used when performing the query resulting in cached faces + float FatRadius2; //!< Sphere used when performing the query resulting in cached faces + // User settings + float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere + }; + + class OPCODE_API SphereCollider : public VolumeCollider + { + public: + // Constructor / Destructor + SphereCollider(); + virtual ~SphereCollider(); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results: + * - with GetContactStatus() + * - with GetNbTouchedPrimitives() + * - with GetTouchedPrimitives() + * + * \param cache [in/out] a sphere cache + * \param sphere [in] collision sphere in local space + * \param model [in] Opcode model to collide with + * \param worlds [in] sphere's world matrix, or null + * \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 Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); + + // + bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree); + protected: + // Sphere in model space + Point mCenter; //!< Sphere center + float mRadius2; //!< Sphere radius squared + // Internal methods + void _Collide(const AABBCollisionNode* node); + void _Collide(const AABBNoLeafNode* node); + void _Collide(const AABBQuantizedNode* node); + void _Collide(const AABBQuantizedNoLeafNode* node); + void _Collide(const AABBTreeNode* node); + void _CollideNoPrimitiveTest(const AABBCollisionNode* node); + void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); + void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); + // Overlap tests + inline_ BOOL SphereContainsBox(const Point& bc, const Point& be); + inline_ BOOL SphereAABBOverlap(const Point& center, const Point& extents); + BOOL SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); + // Init methods + BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); + }; + + class OPCODE_API HybridSphereCollider : public SphereCollider + { + public: + // Constructor / Destructor + HybridSphereCollider(); + virtual ~HybridSphereCollider(); + + bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); + protected: + Container mTouchedBoxes; + }; + +#endif // __OPC_SPHERECOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_SphereTriOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_SphereTriOverlap.h new file mode 100644 index 0000000..77e59f3 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_SphereTriOverlap.h @@ -0,0 +1,187 @@ + +// This is collision detection. If you do another distance test for collision *response*, +// if might be useful to simply *skip* the test below completely, and report a collision. +// - if sphere-triangle overlap, result is ok +// - if they don't, we'll discard them during collision response with a similar test anyway +// Overall this approach should run faster. + +// Original code by David Eberly in Magic. +BOOL SphereCollider::SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) +{ + // Stats + mNbVolumePrimTests++; + + // Early exit if one of the vertices is inside the sphere + Point kDiff = vert2 - mCenter; + float fC = kDiff.SquareMagnitude(); + if(fC <= mRadius2) return TRUE; + + kDiff = vert1 - mCenter; + fC = kDiff.SquareMagnitude(); + if(fC <= mRadius2) return TRUE; + + kDiff = vert0 - mCenter; + fC = kDiff.SquareMagnitude(); + if(fC <= mRadius2) return TRUE; + + // Else do the full distance test + Point TriEdge0 = vert1 - vert0; + Point TriEdge1 = vert2 - vert0; + +//Point kDiff = vert0 - mCenter; + float fA00 = TriEdge0.SquareMagnitude(); + float fA01 = TriEdge0 | TriEdge1; + float fA11 = TriEdge1.SquareMagnitude(); + float fB0 = kDiff | TriEdge0; + float fB1 = kDiff | TriEdge1; +//float fC = kDiff.SquareMagnitude(); + float fDet = fabsf(fA00*fA11 - fA01*fA01); + float u = fA01*fB1-fA11*fB0; + float v = fA01*fB0-fA00*fB1; + float SqrDist; + + if(u + v <= fDet) + { + if(u < 0.0f) + { + if(v < 0.0f) // region 4 + { + if(fB0 < 0.0f) + { +// v = 0.0f; + if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } + else { u = -fB0/fA00; SqrDist = fB0*u+fC; } + } + else + { +// u = 0.0f; + if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } + else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } + else { v = -fB1/fA11; SqrDist = fB1*v+fC; } + } + } + else // region 3 + { +// u = 0.0f; + if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } + else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } + else { v = -fB1/fA11; SqrDist = fB1*v+fC; } + } + } + else if(v < 0.0f) // region 5 + { +// v = 0.0f; + if(fB0>=0.0f) { /*u = 0.0f;*/ SqrDist = fC; } + else if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } + else { u = -fB0/fA00; SqrDist = fB0*u+fC; } + } + else // region 0 + { + // minimum at interior point + if(fDet==0.0f) + { +// u = 0.0f; +// v = 0.0f; + SqrDist = MAX_FLOAT; + } + else + { + float fInvDet = 1.0f/fDet; + u *= fInvDet; + v *= fInvDet; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + } + else + { + float fTmp0, fTmp1, fNumer, fDenom; + + if(u < 0.0f) // region 2 + { + fTmp0 = fA01 + fB0; + fTmp1 = fA11 + fB1; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { +// u = 1.0f; +// v = 0.0f; + SqrDist = fA00+2.0f*fB0+fC; + } + else + { + u = fNumer/fDenom; + v = 1.0f - u; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + else + { +// u = 0.0f; + if(fTmp1 <= 0.0f) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } + else if(fB1 >= 0.0f) { /*v = 0.0f;*/ SqrDist = fC; } + else { v = -fB1/fA11; SqrDist = fB1*v+fC; } + } + } + else if(v < 0.0f) // region 6 + { + fTmp0 = fA01 + fB1; + fTmp1 = fA00 + fB0; + if(fTmp1 > fTmp0) + { + fNumer = fTmp1 - fTmp0; + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { +// v = 1.0f; +// u = 0.0f; + SqrDist = fA11+2.0f*fB1+fC; + } + else + { + v = fNumer/fDenom; + u = 1.0f - v; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + else + { +// v = 0.0f; + if(fTmp1 <= 0.0f) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } + else if(fB0 >= 0.0f) { /*u = 0.0f;*/ SqrDist = fC; } + else { u = -fB0/fA00; SqrDist = fB0*u+fC; } + } + } + else // region 1 + { + fNumer = fA11 + fB1 - fA01 - fB0; + if(fNumer <= 0.0f) + { +// u = 0.0f; +// v = 1.0f; + SqrDist = fA11+2.0f*fB1+fC; + } + else + { + fDenom = fA00-2.0f*fA01+fA11; + if(fNumer >= fDenom) + { +// u = 1.0f; +// v = 0.0f; + SqrDist = fA00+2.0f*fB0+fC; + } + else + { + u = fNumer/fDenom; + v = 1.0f - u; + SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; + } + } + } + } + + return fabsf(SqrDist) < mRadius2; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.cpp b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.cpp new file mode 100644 index 0000000..4a78914 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.cpp @@ -0,0 +1,306 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for tree builders. + * \file OPC_TreeBuilders.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A builder for AABB-trees of vertices. + * + * \class AABBTreeOfVerticesBuilder + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A builder for AABB-trees of AABBs. + * + * \class AABBTreeOfAABBsBuilder + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * A builder for AABB-trees of triangles. + * + * \class AABBTreeOfTrianglesBuilder + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeOfAABBsBuilder::ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const +{ + // Checkings + if(!primitives || !nb_prims) return false; + + // Initialize global box + global_box = mAABBArray[primitives[0]]; + + // Loop through boxes + for(udword i=1;i<nb_prims;i++) + { + // Update global box + global_box.Add(mAABBArray[primitives[i]]); + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfAABBsBuilder::GetSplittingValue(udword index, udword axis) const +{ + // For an AABB, the splitting value is the middle of the given axis, + // i.e. the corresponding component of the center point + return mAABBArray[index].GetCenter(axis); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Point AABBTreeOfAABBsBuilder::GetSplittingValues(udword index) const +{ + // For an AABB, the splitting value is the middle of the given axis, + // i.e. the corresponding component of the center point + Point p; + mAABBArray[index].GetCenter(p); + return p; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeOfTrianglesBuilder::ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const +{ + // Checkings + if(!primitives || !nb_prims) return false; + + // Initialize global box + Point Min(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT); + Point Max(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); + + // Loop through triangles + VertexPointers VP; + ConversionArea VC; + while(nb_prims--) + { + // Get current triangle-vertices + mIMesh->GetTriangle(VP, *primitives++, VC); + // Update global box + Min.Min(*VP.Vertex[0]).Min(*VP.Vertex[1]).Min(*VP.Vertex[2]); + Max.Max(*VP.Vertex[0]).Max(*VP.Vertex[1]).Max(*VP.Vertex[2]); + } + global_box.SetMinMax(Min, Max); + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Point AABBTreeOfTrianglesBuilder::GetSplittingValues(udword index) const +{ + VertexPointers VP; + ConversionArea VC; + mIMesh->GetTriangle(VP, index, VC); + + return ( *VP.Vertex[0] + *VP.Vertex[1] + *VP.Vertex[2] ) * INV3; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfTrianglesBuilder::GetSplittingValue(udword index, udword axis) const +{ +/* // Compute center of triangle + Point Center; + mTriList[index].Center(mVerts, Center); + // Return value + return Center[axis];*/ + + // Compute correct component from center of triangle +// return (mVerts[mTriList[index].mVRef[0]][axis] +// +mVerts[mTriList[index].mVRef[1]][axis] +// +mVerts[mTriList[index].mVRef[2]][axis])*INV3; + + VertexPointers VP; + ConversionArea VC; + mIMesh->GetTriangle(VP, index, VC); + + // Compute correct component from center of triangle + return ((*VP.Vertex[0])[axis] + +(*VP.Vertex[1])[axis] + +(*VP.Vertex[2])[axis])*INV3; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given node. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfTrianglesBuilder::GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis) const +{ + if(mSettings.mRules&SPLIT_GEOM_CENTER) + { + // Loop through triangles + float SplitValue = 0.0f; + VertexPointers VP; + ConversionArea VC; + for(udword i=0;i<nb_prims;i++) + { + // Get current triangle-vertices + mIMesh->GetTriangle(VP, primitives[i], VC); + // Update split value + SplitValue += (*VP.Vertex[0])[axis]; + SplitValue += (*VP.Vertex[1])[axis]; + SplitValue += (*VP.Vertex[2])[axis]; + } + return SplitValue / float(nb_prims*3); + } + else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeOfVerticesBuilder::ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const +{ + // Checkings + if(!primitives || !nb_prims) return false; + + // Initialize global box + global_box.SetEmpty(); + + // Loop through vertices + for(udword i=0;i<nb_prims;i++) + { + // Update global box + global_box.Extend(mVertexArray[primitives[i]]); + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfVerticesBuilder::GetSplittingValue(udword index, udword axis) const +{ + // For a vertex, the splitting value is simply the vertex coordinate. + return mVertexArray[index][axis]; +} + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +Point AABBTreeOfVerticesBuilder::GetSplittingValues(udword index) const +{ + // For a vertex, the splitting value is simply the vertex coordinate. + return mVertexArray[index]; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the splitting value along a given axis for a given node. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABBTreeOfVerticesBuilder::GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis) const +{ + if(mSettings.mRules&SPLIT_GEOM_CENTER) + { + // Loop through vertices + float SplitValue = 0.0f; + for(udword i=0;i<nb_prims;i++) + { + // Update split value + SplitValue += mVertexArray[primitives[i]][axis]; + } + return SplitValue / float(nb_prims); + } + else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis); +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h new file mode 100644 index 0000000..66e9480 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h @@ -0,0 +1,178 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for tree builders. + * \file OPC_TreeBuilders.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_TREEBUILDERS_H__ +#define __OPC_TREEBUILDERS_H__ + + //! Tree splitting rules + enum SplittingRules + { + // Primitive split + SPLIT_LARGEST_AXIS = (1<<0), //!< Split along the largest axis + SPLIT_SPLATTER_POINTS = (1<<1), //!< Splatter primitive centers (QuickCD-style) + SPLIT_BEST_AXIS = (1<<2), //!< Try largest axis, then second, then last + SPLIT_BALANCED = (1<<3), //!< Try to keep a well-balanced tree + SPLIT_FIFTY = (1<<4), //!< Arbitrary 50-50 split + // Node split + SPLIT_GEOM_CENTER = (1<<5), //!< Split at geometric center (else split in the middle) + // + SPLIT_FORCE_DWORD = 0x7fffffff + }; + + //! Simple wrapper around build-related settings [Opcode 1.3] + struct OPCODE_API BuildSettings + { + inline_ BuildSettings() : mLimit(1), mRules(SPLIT_FORCE_DWORD) {} + inline_ explicit BuildSettings(udword Rules) : mLimit(1), mRules(Rules) {} + + udword mLimit; //!< Limit number of primitives / node. If limit is 1, build a complete tree (2*N-1 nodes) + udword mRules; //!< Building/Splitting rules (a combination of SplittingRules flags) + }; + + class OPCODE_API AABBTreeBuilder + { + public: + //! Constructor + AABBTreeBuilder() : + mNbPrimitives(0), + mNodeBase(null), + mCount(0), + mNbInvalidSplits(0) {} + //! Destructor + virtual ~AABBTreeBuilder() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual float GetSplittingValue(udword index, udword axis) const = 0; + virtual Point GetSplittingValues(udword index) const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the splitting value along a given axis for a given node. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual float GetSplittingValue(const dTriIndex* /*primitives*/, udword /*nb_prims*/, const AABB& global_box, udword axis) const + { + // Default split value = middle of the axis (using only the box) + return global_box.GetCenter(axis); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates node subdivision. This is called each time a node is considered for subdivision, during tree building. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \return TRUE if the node should be subdivised + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual BOOL ValidateSubdivision(const dTriIndex* /*primitives*/, udword nb_prims, const AABB& /*global_box*/) + { + // Check the user-defined limit + if(nb_prims<=mSettings.mLimit) return FALSE; + + return TRUE; + } + + BuildSettings mSettings; //!< Splitting rules & split limit [Opcode 1.3] + udword mNbPrimitives; //!< Total number of primitives. + void* mNodeBase; //!< Address of node pool [Opcode 1.3] + // Stats + inline_ void SetCount(udword nb) { mCount=nb; } + inline_ void IncreaseCount(udword nb) { mCount+=nb; } + inline_ udword GetCount() const { return mCount; } + inline_ void SetNbInvalidSplits(udword nb) { mNbInvalidSplits=nb; } + inline_ void IncreaseNbInvalidSplits() { mNbInvalidSplits++; } + inline_ udword GetNbInvalidSplits() const { return mNbInvalidSplits; } + + private: + udword mCount; //!< Stats: number of nodes created + udword mNbInvalidSplits; //!< Stats: number of invalid splits + }; + + class OPCODE_API AABBTreeOfVerticesBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfVerticesBuilder() : mVertexArray(null) {} + //! Destructor + virtual ~AABBTreeOfVerticesBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) Point GetSplittingValues(udword index) const; + override(AABBTreeBuilder) float GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis) const; + + const Point* mVertexArray; //!< Shortcut to an app-controlled array of vertices. + }; + + class OPCODE_API AABBTreeOfAABBsBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfAABBsBuilder() : mAABBArray(null) {} + //! Destructor + virtual ~AABBTreeOfAABBsBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) Point GetSplittingValues(udword index) const; + + const AABB* mAABBArray; //!< Shortcut to an app-controlled array of AABBs. + }; + + class OPCODE_API AABBTreeOfTrianglesBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfTrianglesBuilder() : mIMesh(null) {} + //! Destructor + virtual ~AABBTreeOfTrianglesBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) float GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis) const; + override(AABBTreeBuilder) Point GetSplittingValues(udword index) const; + + const MeshInterface* mIMesh; //!< Shortcut to an app-controlled mesh interface + }; + +#endif // __OPC_TREEBUILDERS_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_TreeCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_TreeCollider.cpp new file mode 100644 index 0000000..ff625f9 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_TreeCollider.cpp @@ -0,0 +1,947 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a tree collider. + * \file OPC_TreeCollider.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains an AABB tree collider. + * This class performs a collision test between two AABB trees. + * + * \class AABBTreeCollider + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +#include "OPC_BoxBoxOverlap.h" +#include "OPC_TriBoxOverlap.h" +#include "OPC_TriTriOverlap.h" + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeCollider::AABBTreeCollider() : + mIMesh0 (null), + mIMesh1 (null), + mNbBVBVTests (0), + mNbPrimPrimTests (0), + mNbBVPrimTests (0), + mFullBoxBoxTest (true), + mFullPrimBoxTest (true) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeCollider::~AABBTreeCollider() +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * 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* AABBTreeCollider::ValidateSettings() +{ + if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; + return null; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Generic collision query for generic OPCODE models. After the call, access the results with: + * - GetContactStatus() + * - GetNbPairs() + * - GetPairs() + * + * \param cache [in] collision cache for model pointers and a colliding pair of primitives + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(BVTCache& cache, const Matrix4x4* world0, const Matrix4x4* world1) +{ + // Checkings + if(!cache.Model0 || !cache.Model1) return false; + if(cache.Model0->HasLeafNodes()!=cache.Model1->HasLeafNodes()) return false; + if(cache.Model0->IsQuantized()!=cache.Model1->IsQuantized()) return false; + + /* + + Rules: + - perform hull test + - when hulls collide, disable hull test + - if meshes overlap, reset countdown + - if countdown reaches 0, enable hull test + + */ + +#ifdef __MESHMERIZER_H__ + // Handle hulls + if(cache.HullTest) + { + if(cache.Model0->GetHull() && cache.Model1->GetHull()) + { + struct Local + { + static Point* SVCallback(const Point& sv, udword& previndex, udword user_data) + { + CollisionHull* Hull = (CollisionHull*)user_data; + previndex = Hull->ComputeSupportingVertex(sv, previndex); + return (Point*)&Hull->GetVerts()[previndex]; + } + }; + + bool Collide; + + if(0) + { + static GJKEngine GJK; -- not thread safe, store in ThreadLocalData + static bool GJKInitDone=false; -- not thread safe, to be removed + if(!GJKInitDone) + { + GJK.Enable(GJK_BACKUP_PROCEDURE); + GJK.Enable(GJK_DEGENERATE); + GJK.Enable(GJK_HILLCLIMBING); + GJKInitDone = true; + } + GJK.SetCallbackObj0(Local::SVCallback); + GJK.SetCallbackObj1(Local::SVCallback); + GJK.SetUserData0(udword(cache.Model0->GetHull())); + GJK.SetUserData1(udword(cache.Model1->GetHull())); + Collide = GJK.Collide(*world0, *world1, &cache.SepVector); + } + else + { + static SVEngine SVE; -- not thread safe, store in ThreadLocalData + SVE.SetCallbackObj0(Local::SVCallback); + SVE.SetCallbackObj1(Local::SVCallback); + SVE.SetUserData0(udword(cache.Model0->GetHull())); + SVE.SetUserData1(udword(cache.Model1->GetHull())); + Collide = SVE.Collide(*world0, *world1, &cache.SepVector); + } + + if(!Collide) + { + // Reset stats & contact status + mFlags &= ~OPC_CONTACT; + mNbBVBVTests = 0; + mNbPrimPrimTests = 0; + mNbBVPrimTests = 0; + mPairs.Reset(); + return true; + } + } + } + + // Here, hulls collide + cache.HullTest = false; +#endif // __MESHMERIZER_H__ + + // Checkings + if(!Setup(cache.Model0->GetMeshInterface(), cache.Model1->GetMeshInterface())) return false; + + // Simple double-dispatch + bool Status; + if(!cache.Model0->HasLeafNodes()) + { + if(cache.Model0->IsQuantized()) + { + const AABBQuantizedNoLeafTree* T0 = static_cast<const AABBQuantizedNoLeafTree *>(cache.Model0->GetTree()); + const AABBQuantizedNoLeafTree* T1 = static_cast<const AABBQuantizedNoLeafTree *>(cache.Model1->GetTree()); + Status = Collide(T0, T1, world0, world1, &cache); + } + else + { + const AABBNoLeafTree* T0 = static_cast<const AABBNoLeafTree *>(cache.Model0->GetTree()); + const AABBNoLeafTree* T1 = static_cast<const AABBNoLeafTree *>(cache.Model1->GetTree()); + Status = Collide(T0, T1, world0, world1, &cache); + } + } + else + { + if(cache.Model0->IsQuantized()) + { + const AABBQuantizedTree* T0 = static_cast<const AABBQuantizedTree *>(cache.Model0->GetTree()); + const AABBQuantizedTree* T1 = static_cast<const AABBQuantizedTree *>(cache.Model1->GetTree()); + Status = Collide(T0, T1, world0, world1, &cache); + } + else + { + const AABBCollisionTree* T0 = static_cast<const AABBCollisionTree *>(cache.Model0->GetTree()); + const AABBCollisionTree* T1 = static_cast<const AABBCollisionTree *>(cache.Model1->GetTree()); + Status = Collide(T0, T1, world0, world1, &cache); + } + } + +#ifdef __MESHMERIZER_H__ + if(Status) + { + // Reset counter as long as overlap occurs + if(GetContactStatus()) cache.ResetCountDown(); + + // Enable hull test again when counter reaches zero + cache.CountDown--; + if(!cache.CountDown) + { + cache.ResetCountDown(); + cache.HullTest = true; + } + } +#endif + return Status; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Initializes a collision query : + * - reset stats & contact status + * - setup matrices + * + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::InitQuery(const Matrix4x4* world0, const Matrix4x4* world1) +{ + // Reset stats & contact status + Collider::InitQuery(); + mNbBVBVTests = 0; + mNbPrimPrimTests = 0; + mNbBVPrimTests = 0; + mPairs.Reset(); + + // Setup matrices + Matrix4x4 InvWorld0, InvWorld1; + if(world0) InvertPRMatrix(InvWorld0, *world0); + else InvWorld0.Identity(); + + if(world1) InvertPRMatrix(InvWorld1, *world1); + else InvWorld1.Identity(); + + Matrix4x4 World0to1 = world0 ? (*world0 * InvWorld1) : InvWorld1; + Matrix4x4 World1to0 = world1 ? (*world1 * InvWorld0) : InvWorld0; + + mR0to1 = World0to1; World0to1.GetTrans(mT0to1); + mR1to0 = World1to0; World1to0.GetTrans(mT1to0); + + // Precompute absolute 1-to-0 rotation matrix + for(udword i=0;i<3;i++) + { + for(udword j=0;j<3;j++) + { + // Epsilon value prevents floating-point inaccuracies (strategy borrowed from RAPID) + mAR.m[i][j] = 1e-6f + fabsf(mR1to0.m[i][j]); + } + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Takes advantage of temporal coherence. + * \param cache [in] cache for a pair of previously colliding primitives + * \return true if we can return immediately + * \warning only works for "First Contact" mode + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::CheckTemporalCoherence(Pair* cache) +{ + // Checkings + if(!cache) return false; + + // Test previously colliding primitives first + if(TemporalCoherenceEnabled() && FirstContactEnabled()) + { + PrimTest(cache->id0, cache->id1); + if(GetContactStatus()) return true; + } + return false; +} + +#define UPDATE_CACHE \ + if(cache && GetContactStatus()) \ + { \ + cache->id0 = mPairs.GetEntry(0); \ + cache->id1 = mPairs.GetEntry(1); \ + } + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for normal AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Perform collision query + _Collide(tree0->GetNodes(), tree1->GetNodes()); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for no-leaf AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Perform collision query + _Collide(tree0->GetNodes(), tree1->GetNodes()); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for quantized AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Setup dequantization coeffs + mCenterCoeff0 = tree0->mCenterCoeff; + mExtentsCoeff0 = tree0->mExtentsCoeff; + mCenterCoeff1 = tree1->mCenterCoeff; + mExtentsCoeff1 = tree1->mExtentsCoeff; + + // Dequantize box A + const AABBQuantizedNode* N0 = tree0->GetNodes(); + const Point a(float(N0->mAABB.mExtents[0]) * mExtentsCoeff0.x, float(N0->mAABB.mExtents[1]) * mExtentsCoeff0.y, float(N0->mAABB.mExtents[2]) * mExtentsCoeff0.z); + const Point Pa(float(N0->mAABB.mCenter[0]) * mCenterCoeff0.x, float(N0->mAABB.mCenter[1]) * mCenterCoeff0.y, float(N0->mAABB.mCenter[2]) * mCenterCoeff0.z); + // Dequantize box B + const AABBQuantizedNode* N1 = tree1->GetNodes(); + const Point b(float(N1->mAABB.mExtents[0]) * mExtentsCoeff1.x, float(N1->mAABB.mExtents[1]) * mExtentsCoeff1.y, float(N1->mAABB.mExtents[2]) * mExtentsCoeff1.z); + const Point Pb(float(N1->mAABB.mCenter[0]) * mCenterCoeff1.x, float(N1->mAABB.mCenter[1]) * mCenterCoeff1.y, float(N1->mAABB.mCenter[2]) * mCenterCoeff1.z); + + // Perform collision query + _Collide(N0, N1, a, Pa, b, Pb); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Collision query for quantized no-leaf AABB trees. + * \param tree0 [in] AABB tree from first object + * \param tree1 [in] AABB tree from second object + * \param world0 [in] world matrix for first object + * \param world1 [in] world matrix for second object + * \param cache [in/out] cache for a pair of previously colliding primitives + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeCollider::Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) +{ + // Init collision query + InitQuery(world0, world1); + + // Check previous state + if(CheckTemporalCoherence(cache)) return true; + + // Setup dequantization coeffs + mCenterCoeff0 = tree0->mCenterCoeff; + mExtentsCoeff0 = tree0->mExtentsCoeff; + mCenterCoeff1 = tree1->mCenterCoeff; + mExtentsCoeff1 = tree1->mExtentsCoeff; + + // Perform collision query + _Collide(tree0->GetNodes(), tree1->GetNodes()); + + UPDATE_CACHE + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Standard trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +// The normal AABB tree can use 2 different descent rules (with different performances) +//#define ORIGINAL_CODE //!< UNC-like descent rules +#define ALTERNATIVE_CODE //!< Alternative descent rules + +#ifdef ORIGINAL_CODE +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param b0 [in] collision node from first tree + * \param b1 [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) return; + + if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } + + if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) + { + _Collide(b0->GetNeg(), b1); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1); + } + else + { + _Collide(b0, b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0, b1->GetPos()); + } +} +#endif + +#ifdef ALTERNATIVE_CODE +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for normal AABB trees. + * \param b0 [in] collision node from first tree + * \param b1 [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) + { + return; + } + + if(b0->IsLeaf()) + { + if(b1->IsLeaf()) + { + PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); + } + else + { + _Collide(b0, b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0, b1->GetPos()); + } + } + else if(b1->IsLeaf()) + { + _Collide(b0->GetNeg(), b1); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1); + } + else + { + _Collide(b0->GetNeg(), b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0->GetNeg(), b1->GetPos()); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1->GetNeg()); + if(ContactFound()) return; + _Collide(b0->GetPos(), b1->GetPos()); + } +} +#endif + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// No-leaf trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Leaf-leaf test for two primitive indices. + * \param id0 [in] index from first leaf-triangle + * \param id1 [in] index from second leaf-triangle + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::PrimTest(udword id0, udword id1) +{ + // Request vertices from the app + VertexPointers VP0; + VertexPointers VP1; + ConversionArea VC0; + ConversionArea VC1; + mIMesh0->GetTriangle(VP0, id0, VC0); + mIMesh1->GetTriangle(VP1, id1, VC1); + + // Transform from space 1 to space 0 + Point u0,u1,u2; + TransformPoint(u0, *VP1.Vertex[0], mR1to0, mT1to0); + TransformPoint(u1, *VP1.Vertex[1], mR1to0, mT1to0); + TransformPoint(u2, *VP1.Vertex[2], mR1to0, mT1to0); + + // Perform triangle-triangle overlap test + if(TriTriOverlap(*VP0.Vertex[0], *VP0.Vertex[1], *VP0.Vertex[2], u0, u1, u2)) + { + // Keep track of colliding pairs + mPairs.Add(id0).Add(id1); + // Set contact status + mFlags |= OPC_CONTACT; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Leaf-leaf test for a previously fetched triangle from tree A (in B's space) and a new leaf from B. + * \param id1 [in] leaf-triangle index from tree B + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ void AABBTreeCollider::PrimTestTriIndex(udword id1) +{ + // Request vertices from the app + VertexPointers VP; + ConversionArea VC; + mIMesh1->GetTriangle(VP, id1, VC); + + // Perform triangle-triangle overlap test + if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) + { + // Keep track of colliding pairs + mPairs.Add(mLeafIndex).Add(id1); + // Set contact status + mFlags |= OPC_CONTACT; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Leaf-leaf test for a previously fetched triangle from tree B (in A's space) and a new leaf from A. + * \param id0 [in] leaf-triangle index from tree A + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ void AABBTreeCollider::PrimTestIndexTri(udword id0) +{ + // Request vertices from the app + VertexPointers VP; + ConversionArea VC; + mIMesh0->GetTriangle(VP, id0, VC); + + // Perform triangle-triangle overlap test + if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) + { + // Keep track of colliding pairs + mPairs.Add(id0).Add(mLeafIndex); + // Set contact status + mFlags |= OPC_CONTACT; + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from A and a branch from B. + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideTriBox(const AABBNoLeafNode* b) +{ + // Perform triangle-box overlap test + if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; + + // Keep same triangle, deal with first child + if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + // Keep same triangle, deal with second child + if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from B and a branch from A. + * \param b [in] collision node from first tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideBoxTri(const AABBNoLeafNode* b) +{ + // Perform triangle-box overlap test + if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; + + // Keep same triangle, deal with first child + if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); + else _CollideBoxTri(b->GetPos()); + + if(ContactFound()) return; + + // Keep same triangle, deal with second child + if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); + else _CollideBoxTri(b->GetNeg()); +} + +//! Request triangle vertices from the app and transform them +#define FETCH_LEAF(prim_index, imesh, rot, trans) \ + mLeafIndex = prim_index; \ + /* Request vertices from the app */ \ + VertexPointers VP; ConversionArea VC; imesh->GetTriangle(VP, prim_index, VC); \ + /* Transform them in a common space */ \ + TransformPoint(mLeafVerts[0], *VP.Vertex[0], rot, trans); \ + TransformPoint(mLeafVerts[1], *VP.Vertex[1], rot, trans); \ + TransformPoint(mLeafVerts[2], *VP.Vertex[2], rot, trans); + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for no-leaf AABB trees. + * \param a [in] collision node from first tree + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(a->mAABB.mExtents, a->mAABB.mCenter, b->mAABB.mExtents, b->mAABB.mCenter)) return; + + // Catch leaf status + BOOL BHasPosLeaf = b->HasPosLeaf(); + BOOL BHasNegLeaf = b->HasNegLeaf(); + + if(a->HasPosLeaf()) + { + FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetNeg()); + } + + if(ContactFound()) return; + + if(a->HasNegLeaf()) + { + FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetNeg()); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Quantized trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized AABB trees. + * \param b0 [in] collision node from first tree + * \param b1 [in] collision node from second tree + * \param a [in] extent from box A + * \param Pa [in] center from box A + * \param b [in] extent from box B + * \param Pb [in] center from box B + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb) +{ + // Perform BV-BV overlap test + if(!BoxBoxOverlap(a, Pa, b, Pb)) return; + + if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } + + if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) + { + // Dequantize box + const QuantizedAABB* Box = &b0->GetNeg()->mAABB; + const Point negPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); + const Point nega(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); + _Collide(b0->GetNeg(), b1, nega, negPa, b, Pb); + + if(ContactFound()) return; + + // Dequantize box + Box = &b0->GetPos()->mAABB; + const Point posPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); + const Point posa(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); + _Collide(b0->GetPos(), b1, posa, posPa, b, Pb); + } + else + { + // Dequantize box + const QuantizedAABB* Box = &b1->GetNeg()->mAABB; + const Point negPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); + const Point negb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); + _Collide(b0, b1->GetNeg(), a, Pa, negb, negPb); + + if(ContactFound()) return; + + // Dequantize box + Box = &b1->GetPos()->mAABB; + const Point posPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); + const Point posb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); + _Collide(b0, b1->GetPos(), a, Pa, posb, posPb); + } +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Quantized no-leaf trees +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from A and a quantized branch from B. + * \param leaf [in] leaf triangle from first tree + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideTriBox(const AABBQuantizedNoLeafNode* b) +{ + // Dequantize box + const QuantizedAABB* bb = &b->mAABB; + const Point Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); + const Point eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); + + // Perform triangle-box overlap test + if(!TriBoxOverlap(Pb, eb)) return; + + if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision of a leaf node from B and a quantized branch from A. + * \param b [in] collision node from first tree + * \param leaf [in] leaf triangle from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_CollideBoxTri(const AABBQuantizedNoLeafNode* b) +{ + // Dequantize box + const QuantizedAABB* bb = &b->mAABB; + const Point Pa(float(bb->mCenter[0]) * mCenterCoeff0.x, float(bb->mCenter[1]) * mCenterCoeff0.y, float(bb->mCenter[2]) * mCenterCoeff0.z); + const Point ea(float(bb->mExtents[0]) * mExtentsCoeff0.x, float(bb->mExtents[1]) * mExtentsCoeff0.y, float(bb->mExtents[2]) * mExtentsCoeff0.z); + + // Perform triangle-box overlap test + if(!TriBoxOverlap(Pa, ea)) return; + + if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); + else _CollideBoxTri(b->GetPos()); + + if(ContactFound()) return; + + if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); + else _CollideBoxTri(b->GetNeg()); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive collision query for quantized no-leaf AABB trees. + * \param a [in] collision node from first tree + * \param b [in] collision node from second tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeCollider::_Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b) +{ + // Dequantize box A + const QuantizedAABB* ab = &a->mAABB; + const Point Pa(float(ab->mCenter[0]) * mCenterCoeff0.x, float(ab->mCenter[1]) * mCenterCoeff0.y, float(ab->mCenter[2]) * mCenterCoeff0.z); + const Point ea(float(ab->mExtents[0]) * mExtentsCoeff0.x, float(ab->mExtents[1]) * mExtentsCoeff0.y, float(ab->mExtents[2]) * mExtentsCoeff0.z); + // Dequantize box B + const QuantizedAABB* bb = &b->mAABB; + const Point Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); + const Point eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); + + // Perform BV-BV overlap test + if(!BoxBoxOverlap(ea, Pa, eb, Pb)) return; + + // Catch leaf status + BOOL BHasPosLeaf = b->HasPosLeaf(); + BOOL BHasNegLeaf = b->HasNegLeaf(); + + if(a->HasPosLeaf()) + { + FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetPos()); + } + else _Collide(a->GetPos(), b->GetNeg()); + } + + if(ContactFound()) return; + + if(a->HasNegLeaf()) + { + FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) + + if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); + else _CollideTriBox(b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); + else _CollideTriBox(b->GetNeg()); + } + else + { + if(BHasPosLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetPos()); + + if(ContactFound()) return; + + if(BHasNegLeaf) + { + // ### That leaf has possibly already been fetched + FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) + + _CollideBoxTri(a->GetNeg()); + } + else _Collide(a->GetNeg(), b->GetNeg()); + } +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_TreeCollider.h b/libs/ode-0.16.1/OPCODE/OPC_TreeCollider.h new file mode 100644 index 0000000..1e943a4 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_TreeCollider.h @@ -0,0 +1,246 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a tree collider. + * \file OPC_TreeCollider.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_TREECOLLIDER_H__ +#define __OPC_TREECOLLIDER_H__ + + //! This structure holds cached information used by the algorithm. + //! Two model pointers and two colliding primitives are cached. Model pointers are assigned + //! to their respective meshes, and the pair of colliding primitives is used for temporal + //! coherence. That is, in case temporal coherence is enabled, those two primitives are + //! tested for overlap before everything else. If they still collide, we're done before + //! even entering the recursive collision code. + struct OPCODE_API BVTCache : Pair + { + //! Constructor + inline_ BVTCache() + { + ResetCache(); + ResetCountDown(); + } + + void ResetCache() + { + Model0 = null; + Model1 = null; + id0 = 0; + id1 = 1; +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + HullTest = true; + SepVector.pid = 0; + SepVector.qid = 0; + SepVector.SV = Point(1.0f, 0.0f, 0.0f); +#endif // __MESHMERIZER_H__ + } + +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + inline_ void ResetCountDown() + { + CountDown = 50; + } +#else + void ResetCountDown(){}; +#endif // __MESHMERIZER_H__ + + const Model* Model0; //!< Model for first object + const Model* Model1; //!< Model for second object + +#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! + SVCache SepVector; + udword CountDown; + bool HullTest; +#endif // __MESHMERIZER_H__ + }; + + class OPCODE_API AABBTreeCollider : public Collider + { + public: + // Constructor / Destructor + AABBTreeCollider(); + virtual ~AABBTreeCollider(); + // Generic collision query + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Generic collision query for generic OPCODE models. After the call, access the results with: + * - GetContactStatus() + * - GetNbPairs() + * - GetPairs() + * + * \param cache [in] collision cache for model pointers and a colliding pair of primitives + * \param world0 [in] world matrix for first object, or null + * \param world1 [in] world matrix for second object, or null + * \return true if success + * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null); + + // Collision queries + bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) + * \param flag [in] true for full tests, false for coarse tests + * \see SetFullPrimBoxTest(bool flag) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded) + * \param flag [in] true for full tests, false for coarse tests + * \see SetFullBoxBoxTest(bool flag) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; } + + // Stats + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of BV-BV overlap tests after a collision query. + * \see GetNbPrimPrimTests() + * \see GetNbBVPrimTests() + * \return the number of BV-BV tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Triangle-Triangle overlap tests after a collision query. + * \see GetNbBVBVTests() + * \see GetNbBVPrimTests() + * \return the number of Triangle-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of BV-Triangle overlap tests after a collision query. + * \see GetNbBVBVTests() + * \see GetNbPrimPrimTests() + * \return the number of BV-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; } + + // Data access + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of contacts after a collision query. + * \see GetContactStatus() + * \see GetPairs() + * \return the number of contacts / colliding pairs. + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the pairs of colliding triangles after a collision query. + * \see GetContactStatus() + * \see GetNbPairs() + * \return the list of colliding pairs (triangle indices) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Colliding pairs + Container mPairs; //!< Pairs of colliding primitives + // User mesh interfaces + const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0 + const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1 + // Stats + udword mNbBVBVTests; //!< Number of BV-BV tests + udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests + udword mNbBVPrimTests; //!< Number of BV-Primitive tests + // Precomputed data + Matrix3x3 mAR; //!< Absolute rotation matrix + Matrix3x3 mR0to1; //!< Rotation from object0 to object1 + Matrix3x3 mR1to0; //!< Rotation from object1 to object0 + Point mT0to1; //!< Translation from object0 to object1 + Point mT1to0; //!< Translation from object1 to object0 + // Dequantization coeffs + Point mCenterCoeff0; + Point mExtentsCoeff0; + Point mCenterCoeff1; + Point mExtentsCoeff1; + // Leaf description + Point mLeafVerts[3]; //!< Triangle vertices + udword mLeafIndex; //!< Triangle index + // Settings + bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) + bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false) + // Internal methods + + // Standard AABB trees + void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1); + // Quantized AABB trees + void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb); + // No-leaf AABB trees + void _CollideTriBox(const AABBNoLeafNode* b); + void _CollideBoxTri(const AABBNoLeafNode* b); + void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b); + // Quantized no-leaf AABB trees + void _CollideTriBox(const AABBQuantizedNoLeafNode* b); + void _CollideBoxTri(const AABBQuantizedNoLeafNode* b); + void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b); + // Overlap tests + void PrimTest(udword id0, udword id1); + inline_ void PrimTestTriIndex(udword id1); + inline_ void PrimTestIndexTri(udword id0); + + inline_ BOOL BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb); + inline_ BOOL TriBoxOverlap(const Point& center, const Point& extents); + inline_ BOOL TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2); + // Init methods + void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null); + bool CheckTemporalCoherence(Pair* cache); + + inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1) + { + mIMesh0 = mi0; + mIMesh1 = mi1; + + if(!mIMesh0 || !mIMesh1) return FALSE; + + return TRUE; + } + }; + +#endif // __OPC_TREECOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h new file mode 100644 index 0000000..b3a9bde --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h @@ -0,0 +1,339 @@ + +//! This macro quickly finds the min & max values among 3 variables +#define FINDMINMAX(x0, x1, x2, min, max) \ + min = max = x0; \ + if(x1<min) min=x1; \ + if(x1>max) max=x1; \ + if(x2<min) min=x2; \ + if(x2>max) max=x2; + +//! TO BE DOCUMENTED +inline_ BOOL planeBoxOverlap(const Point& normal, const float d, const Point& maxbox) +{ + Point vmin, vmax; + for(udword q=0;q<=2;q++) + { + if(normal[q]>0.0f) { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; } + else { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; } + } + if((normal|vmin)+d>0.0f) return FALSE; + if((normal|vmax)+d>=0.0f) return TRUE; + + return FALSE; +} + +//! TO BE DOCUMENTED +#define AXISTEST_X01(a, b, fa, fb) \ + min = a*v0.y - b*v0.z; \ + max = a*v2.y - b*v2.z; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.y + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_X2(a, b, fa, fb) \ + min = a*v0.y - b*v0.z; \ + max = a*v1.y - b*v1.z; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.y + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Y02(a, b, fa, fb) \ + min = b*v0.z - a*v0.x; \ + max = b*v2.z - a*v2.x; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Y1(a, b, fa, fb) \ + min = b*v0.z - a*v0.x; \ + max = b*v1.z - a*v1.x; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.z; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Z12(a, b, fa, fb) \ + min = a*v1.x - b*v1.y; \ + max = a*v2.x - b*v2.y; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.y; \ + if(min>rad || max<-rad) return FALSE; + +//! TO BE DOCUMENTED +#define AXISTEST_Z0(a, b, fa, fb) \ + min = a*v0.x - b*v0.y; \ + max = a*v1.x - b*v1.y; \ + if(min>max) {const float tmp=max; max=min; min=tmp; } \ + rad = fa * extents.x + fb * extents.y; \ + if(min>rad || max<-rad) return FALSE; + +// compute triangle edges +// - edges lazy evaluated to take advantage of early exits +// - fabs precomputed (half less work, possible since extents are always >0) +// - customized macros to take advantage of the null component +// - axis vector discarded, possibly saves useless movs +#define IMPLEMENT_CLASS3_TESTS \ + float rad; \ + float min, max; \ + \ + const float fey0 = fabsf(e0.y); \ + const float fez0 = fabsf(e0.z); \ + AXISTEST_X01(e0.z, e0.y, fez0, fey0); \ + const float fex0 = fabsf(e0.x); \ + AXISTEST_Y02(e0.z, e0.x, fez0, fex0); \ + AXISTEST_Z12(e0.y, e0.x, fey0, fex0); \ + \ + const float fey1 = fabsf(e1.y); \ + const float fez1 = fabsf(e1.z); \ + AXISTEST_X01(e1.z, e1.y, fez1, fey1); \ + const float fex1 = fabsf(e1.x); \ + AXISTEST_Y02(e1.z, e1.x, fez1, fex1); \ + AXISTEST_Z0(e1.y, e1.x, fey1, fex1); \ + \ + const Point e2 = mLeafVerts[0] - mLeafVerts[2]; \ + const float fey2 = fabsf(e2.y); \ + const float fez2 = fabsf(e2.z); \ + AXISTEST_X2(e2.z, e2.y, fez2, fey2); \ + const float fex2 = fabsf(e2.x); \ + AXISTEST_Y1(e2.z, e2.x, fez2, fex2); \ + AXISTEST_Z12(e2.y, e2.x, fey2, fex2); + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Triangle-Box overlap test using the separating axis theorem. + * This is the code from Tomas Möller, a bit optimized: + * - with some more lazy evaluation (faster path on PC) + * - with a tiny bit of assembly + * - with "SAT-lite" applied if needed + * - and perhaps with some more minor modifs... + * + * \param center [in] box center + * \param extents [in] box extents + * \return true if triangle & box overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBTreeCollider::TriBoxOverlap(const Point& center, const Point& extents) +{ + // Stats + mNbBVPrimTests++; + + // use separating axis theorem to test overlap between triangle and box + // need to test for overlap in these directions: + // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle + // we do not even need to test these) + // 2) normal of the triangle + // 3) crossproduct(edge from tri, {x,y,z}-directin) + // this gives 3x3=9 more tests + + // move everything so that the boxcenter is in (0,0,0) + Point v0, v1, v2; + v0.x = mLeafVerts[0].x - center.x; + v1.x = mLeafVerts[1].x - center.x; + v2.x = mLeafVerts[2].x - center.x; + + // First, test overlap in the {x,y,z}-directions +#ifdef OPC_USE_FCOMI + // find min, max of the triangle in x-direction, and test for overlap in X + if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; + if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; + + // same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; + if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; + + // same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; + if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; +#else + float min,max; + // Find min, max of the triangle in x-direction, and test for overlap in X + FINDMINMAX(v0.x, v1.x, v2.x, min, max); + if(min>extents.x || max<-extents.x) return FALSE; + + // Same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + FINDMINMAX(v0.y, v1.y, v2.y, min, max); + if(min>extents.y || max<-extents.y) return FALSE; + + // Same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + FINDMINMAX(v0.z, v1.z, v2.z, min, max); + if(min>extents.z || max<-extents.z) return FALSE; +#endif + // 2) Test if the box intersects the plane of the triangle + // compute plane equation of triangle: normal*x+d=0 + // ### could be precomputed since we use the same leaf triangle several times + const Point e0 = v1 - v0; + const Point e1 = v2 - v1; + const Point normal = e0 ^ e1; + const float d = -normal|v0; + if(!planeBoxOverlap(normal, d, extents)) return FALSE; + + // 3) "Class III" tests + if(mFullPrimBoxTest) + { + IMPLEMENT_CLASS3_TESTS + } + return TRUE; +} + +//! A dedicated version where the box is constant +inline_ BOOL OBBCollider::TriBoxOverlap() +{ + // Stats + mNbVolumePrimTests++; + + // Hook + const Point& extents = mBoxExtents; + const Point& v0 = mLeafVerts[0]; + const Point& v1 = mLeafVerts[1]; + const Point& v2 = mLeafVerts[2]; + + // use separating axis theorem to test overlap between triangle and box + // need to test for overlap in these directions: + // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle + // we do not even need to test these) + // 2) normal of the triangle + // 3) crossproduct(edge from tri, {x,y,z}-directin) + // this gives 3x3=9 more tests + + // Box center is already in (0,0,0) + + // First, test overlap in the {x,y,z}-directions +#ifdef OPC_USE_FCOMI + // find min, max of the triangle in x-direction, and test for overlap in X + if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x) return FALSE; + if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x) return FALSE; + + if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y) return FALSE; + if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y) return FALSE; + + if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z) return FALSE; + if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z) return FALSE; +#else + float min,max; + // Find min, max of the triangle in x-direction, and test for overlap in X + FINDMINMAX(v0.x, v1.x, v2.x, min, max); + if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE; + + FINDMINMAX(v0.y, v1.y, v2.y, min, max); + if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE; + + FINDMINMAX(v0.z, v1.z, v2.z, min, max); + if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE; +#endif + // 2) Test if the box intersects the plane of the triangle + // compute plane equation of triangle: normal*x+d=0 + // ### could be precomputed since we use the same leaf triangle several times + const Point e0 = v1 - v0; + const Point e1 = v2 - v1; + const Point normal = e0 ^ e1; + const float d = -normal|v0; + if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE; + + // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) + { + IMPLEMENT_CLASS3_TESTS + } + return TRUE; +} + +//! ...and another one, jeez +inline_ BOOL AABBCollider::TriBoxOverlap() +{ + // Stats + mNbVolumePrimTests++; + + // Hook + const Point& center = mBox.mCenter; + const Point& extents = mBox.mExtents; + + // use separating axis theorem to test overlap between triangle and box + // need to test for overlap in these directions: + // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle + // we do not even need to test these) + // 2) normal of the triangle + // 3) crossproduct(edge from tri, {x,y,z}-directin) + // this gives 3x3=9 more tests + + // move everything so that the boxcenter is in (0,0,0) + Point v0, v1, v2; + v0.x = mLeafVerts[0].x - center.x; + v1.x = mLeafVerts[1].x - center.x; + v2.x = mLeafVerts[2].x - center.x; + + // First, test overlap in the {x,y,z}-directions +#ifdef OPC_USE_FCOMI + // find min, max of the triangle in x-direction, and test for overlap in X + if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; + if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; + + // same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; + if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; + + // same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; + if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; +#else + float min,max; + // Find min, max of the triangle in x-direction, and test for overlap in X + FINDMINMAX(v0.x, v1.x, v2.x, min, max); + if(min>extents.x || max<-extents.x) return FALSE; + + // Same for Y + v0.y = mLeafVerts[0].y - center.y; + v1.y = mLeafVerts[1].y - center.y; + v2.y = mLeafVerts[2].y - center.y; + + FINDMINMAX(v0.y, v1.y, v2.y, min, max); + if(min>extents.y || max<-extents.y) return FALSE; + + // Same for Z + v0.z = mLeafVerts[0].z - center.z; + v1.z = mLeafVerts[1].z - center.z; + v2.z = mLeafVerts[2].z - center.z; + + FINDMINMAX(v0.z, v1.z, v2.z, min, max); + if(min>extents.z || max<-extents.z) return FALSE; +#endif + // 2) Test if the box intersects the plane of the triangle + // compute plane equation of triangle: normal*x+d=0 + // ### could be precomputed since we use the same leaf triangle several times + const Point e0 = v1 - v0; + const Point e1 = v2 - v1; + const Point normal = e0 ^ e1; + const float d = -normal|v0; + if(!planeBoxOverlap(normal, d, extents)) return FALSE; + + // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) + { + IMPLEMENT_CLASS3_TESTS + } + return TRUE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_TriTriOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_TriTriOverlap.h new file mode 100644 index 0000000..fd652c9 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_TriTriOverlap.h @@ -0,0 +1,299 @@ + +//! if OPC_TRITRI_EPSILON_TEST is true then we do a check (if |dv|<EPSILON then dv=0.0;) else no check is done (which is less robust, but faster) +#define LOCAL_EPSILON 0.000001f + +//! sort so that a<=b +#define SORT(a,b) \ + if(a>b) \ + { \ + const float c=a; \ + a=b; \ + b=c; \ + } + +//! Edge to edge test based on Franlin Antonio's gem: "Faster Line Segment Intersection", in Graphics Gems III, pp. 199-202 +#define EDGE_EDGE_TEST(V0, U0, U1) \ + Bx = U0[i0] - U1[i0]; \ + By = U0[i1] - U1[i1]; \ + Cx = V0[i0] - U0[i0]; \ + Cy = V0[i1] - U0[i1]; \ + f = Ay*Bx - Ax*By; \ + d = By*Cx - Bx*Cy; \ + if((f>0.0f && d>=0.0f && d<=f) || (f<0.0f && d<=0.0f && d>=f)) \ + { \ + const float e=Ax*Cy - Ay*Cx; \ + if(f>0.0f) \ + { \ + if(e>=0.0f && e<=f) return TRUE; \ + } \ + else \ + { \ + if(e<=0.0f && e>=f) return TRUE; \ + } \ + } + +//! TO BE DOCUMENTED +#define EDGE_AGAINST_TRI_EDGES(V0, V1, U0, U1, U2) \ +{ \ + float Bx,By,Cx,Cy,d,f; \ + const float Ax = V1[i0] - V0[i0]; \ + const float Ay = V1[i1] - V0[i1]; \ + /* test edge U0,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0, U0, U1); \ + /* test edge U1,U2 against V0,V1 */ \ + EDGE_EDGE_TEST(V0, U1, U2); \ + /* test edge U2,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0, U2, U0); \ +} + +//! TO BE DOCUMENTED +#define POINT_IN_TRI(V0, U0, U1, U2) \ +{ \ + /* is T1 completly inside T2? */ \ + /* check if V0 is inside tri(U0,U1,U2) */ \ + float a = U1[i1] - U0[i1]; \ + float b = -(U1[i0] - U0[i0]); \ + float c = -a*U0[i0] - b*U0[i1]; \ + float d0 = a*V0[i0] + b*V0[i1] + c; \ + \ + a = U2[i1] - U1[i1]; \ + b = -(U2[i0] - U1[i0]); \ + c = -a*U1[i0] - b*U1[i1]; \ + const float d1 = a*V0[i0] + b*V0[i1] + c; \ + \ + a = U0[i1] - U2[i1]; \ + b = -(U0[i0] - U2[i0]); \ + c = -a*U2[i0] - b*U2[i1]; \ + const float d2 = a*V0[i0] + b*V0[i1] + c; \ + if(d0*d1>0.0f) \ + { \ + if(d0*d2>0.0f) return TRUE; \ + } \ +} + +//! TO BE DOCUMENTED +BOOL CoplanarTriTri(const Point& n, const Point& v0, const Point& v1, const Point& v2, const Point& u0, const Point& u1, const Point& u2) +{ + float A[3]; + short i0,i1; + /* first project onto an axis-aligned plane, that maximizes the area */ + /* of the triangles, compute indices: i0,i1. */ + A[0] = fabsf(n[0]); + A[1] = fabsf(n[1]); + A[2] = fabsf(n[2]); + if(A[0]>A[1]) + { + if(A[0]>A[2]) + { + i0=1; /* A[0] is greatest */ + i1=2; + } + else + { + i0=0; /* A[2] is greatest */ + i1=1; + } + } + else /* A[0]<=A[1] */ + { + if(A[2]>A[1]) + { + i0=0; /* A[2] is greatest */ + i1=1; + } + else + { + i0=0; /* A[1] is greatest */ + i1=2; + } + } + + /* test all edges of triangle 1 against the edges of triangle 2 */ + EDGE_AGAINST_TRI_EDGES(v0, v1, u0, u1, u2); + EDGE_AGAINST_TRI_EDGES(v1, v2, u0, u1, u2); + EDGE_AGAINST_TRI_EDGES(v2, v0, u0, u1, u2); + + /* finally, test if tri1 is totally contained in tri2 or vice versa */ + POINT_IN_TRI(v0, u0, u1, u2); + POINT_IN_TRI(u0, v0, v1, v2); + + return FALSE; +} + +//! TO BE DOCUMENTED +#define NEWCOMPUTE_INTERVALS(VV0, VV1, VV2, D0, D1, D2, D0D1, D0D2, A, B, C, X0, X1) \ +{ \ + if(D0D1>0.0f) \ + { \ + /* here we know that D0D2<=0.0 */ \ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ + A=VV2; B=(VV0 - VV2)*D2; C=(VV1 - VV2)*D2; X0=D2 - D0; X1=D2 - D1; \ + } \ + else if(D0D2>0.0f) \ + { \ + /* here we know that d0d1<=0.0 */ \ + A=VV1; B=(VV0 - VV1)*D1; C=(VV2 - VV1)*D1; X0=D1 - D0; X1=D1 - D2; \ + } \ + else if(D1*D2>0.0f || D0!=0.0f) \ + { \ + /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ + A=VV0; B=(VV1 - VV0)*D0; C=(VV2 - VV0)*D0; X0=D0 - D1; X1=D0 - D2; \ + } \ + else if(D1!=0.0f) \ + { \ + A=VV1; B=(VV0 - VV1)*D1; C=(VV2 - VV1)*D1; X0=D1 - D0; X1=D1 - D2; \ + } \ + else if(D2!=0.0f) \ + { \ + A=VV2; B=(VV0 - VV2)*D2; C=(VV1 - VV2)*D2; X0=D2 - D0; X1=D2 - D1; \ + } \ + else \ + { \ + /* triangles are coplanar */ \ + return CoplanarTriTri(N1, V0, V1, V2, U0, U1, U2); \ + } \ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Triangle/triangle intersection test routine, + * by Tomas Moller, 1997. + * See article "A Fast Triangle-Triangle Intersection Test", + * Journal of Graphics Tools, 2(2), 1997 + * + * Updated June 1999: removed the divisions -- a little faster now! + * Updated October 1999: added {} to CROSS and SUB macros + * + * int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3], + * float U0[3],float U1[3],float U2[3]) + * + * \param V0 [in] triangle 0, vertex 0 + * \param V1 [in] triangle 0, vertex 1 + * \param V2 [in] triangle 0, vertex 2 + * \param U0 [in] triangle 1, vertex 0 + * \param U1 [in] triangle 1, vertex 1 + * \param U2 [in] triangle 1, vertex 2 + * \return true if triangles overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBTreeCollider::TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2) +{ + // Stats + mNbPrimPrimTests++; + + // Compute plane equation of triangle(V0,V1,V2) + Point E1 = V1 - V0; + Point E2 = V2 - V0; + const Point N1 = E1 ^ E2; + const float d1 =-N1 | V0; + // Plane equation 1: N1.X+d1=0 + + // Put U0,U1,U2 into plane equation 1 to compute signed distances to the plane + float du0 = (N1|U0) + d1; + float du1 = (N1|U1) + d1; + float du2 = (N1|U2) + d1; + + // Coplanarity robustness check +#ifdef OPC_TRITRI_EPSILON_TEST + float absd1 = FastFabs(d1), sqmagN1 = N1.SquareMagnitude(); + if (absd1>=sqmagN1) + { + if(FastFabs(du0)<=LOCAL_EPSILON*absd1) du0 = 0.0f; + if(FastFabs(du1)<=LOCAL_EPSILON*absd1) du1 = 0.0f; + if(FastFabs(du2)<=LOCAL_EPSILON*absd1) du2 = 0.0f; + } + else + { + if(FastFabs(du0)<=LOCAL_EPSILON*FCMax2(absd1, FCMin2(sqmagN1, U0.SquareMagnitude()))) du0 = 0.0f; + if(FastFabs(du1)<=LOCAL_EPSILON*FCMax2(absd1, FCMin2(sqmagN1, U1.SquareMagnitude()))) du1 = 0.0f; + if(FastFabs(du2)<=LOCAL_EPSILON*FCMax2(absd1, FCMin2(sqmagN1, U2.SquareMagnitude()))) du2 = 0.0f; + } +#endif + const float du0du1 = du0 * du1; + const float du0du2 = du0 * du2; + + if(du0du1>0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? + return FALSE; // no intersection occurs + + // Compute plane of triangle (U0,U1,U2) + E1 = U1 - U0; + E2 = U2 - U0; + const Point N2 = E1 ^ E2; + const float d2=-N2 | U0; + // plane equation 2: N2.X+d2=0 + + // put V0,V1,V2 into plane equation 2 + float dv0 = (N2|V0) + d2; + float dv1 = (N2|V1) + d2; + float dv2 = (N2|V2) + d2; + +#ifdef OPC_TRITRI_EPSILON_TEST + float absd2 = FastFabs(d2), sqmagN2 = N2.SquareMagnitude(); + if (absd2>=sqmagN2) + { + if(FastFabs(dv0)<=LOCAL_EPSILON*absd2) dv0 = 0.0f; + if(FastFabs(dv1)<=LOCAL_EPSILON*absd2) dv1 = 0.0f; + if(FastFabs(dv2)<=LOCAL_EPSILON*absd2) dv2 = 0.0f; + } + else + { + if(FastFabs(dv0)<=LOCAL_EPSILON*FCMax2(absd2, FCMin2(sqmagN2, V0.SquareMagnitude()))) dv0 = 0.0f; + if(FastFabs(dv1)<=LOCAL_EPSILON*FCMax2(absd2, FCMin2(sqmagN2, V1.SquareMagnitude()))) dv1 = 0.0f; + if(FastFabs(dv2)<=LOCAL_EPSILON*FCMax2(absd2, FCMin2(sqmagN2, V2.SquareMagnitude()))) dv2 = 0.0f; + } +#endif + + const float dv0dv1 = dv0 * dv1; + const float dv0dv2 = dv0 * dv2; + + if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? + return FALSE; // no intersection occurs + + // Compute direction of intersection line + const Point D = N1^N2; + + // Compute and index to the largest component of D + float max=fabsf(D[0]); + short index=0; + float bb=fabsf(D[1]); + float cc=fabsf(D[2]); + if(bb>max) max=bb,index=1; + if(cc>max) max=cc,index=2; + + // This is the simplified projection onto L + const float vp0 = V0[index]; + const float vp1 = V1[index]; + const float vp2 = V2[index]; + + const float up0 = U0[index]; + const float up1 = U1[index]; + const float up2 = U2[index]; + + // Compute interval for triangle 1 + float a,b,c,x0,x1; + NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1); + + // Compute interval for triangle 2 + float d,e,f,y0,y1; + NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1); + + const float xx=x0*x1; + const float yy=y0*y1; + const float xxyy=xx*yy; + + float isect1[2], isect2[2]; + + float tmp=a*xxyy; + isect1[0]=tmp+b*x1*yy; + isect1[1]=tmp+c*x0*yy; + + tmp=d*xxyy; + isect2[0]=tmp+e*xx*y1; + isect2[1]=tmp+f*xx*y0; + + SORT(isect1[0],isect1[1]); + SORT(isect2[0],isect2[1]); + + if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return FALSE; + return TRUE; +} diff --git a/libs/ode-0.16.1/OPCODE/OPC_VolumeCollider.cpp b/libs/ode-0.16.1/OPCODE/OPC_VolumeCollider.cpp new file mode 100644 index 0000000..f374209 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_VolumeCollider.cpp @@ -0,0 +1,103 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base volume collider class. + * \file OPC_VolumeCollider.cpp + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains the abstract class for volume colliders. + * + * \class VolumeCollider + * \author Pierre Terdiman + * \version 1.3 + * \date June, 2, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +VolumeCollider::VolumeCollider() : + mTouchedPrimitives (null), + mNbVolumeBVTests (0), + mNbVolumePrimTests (0) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +VolumeCollider::~VolumeCollider() +{ + mTouchedPrimitives = null; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const char* VolumeCollider::ValidateSettings() +{ + return null; +} + +// Pretty dumb way to dump - to do better - one day... + +#define IMPLEMENT_NOLEAFDUMP(type) \ +void VolumeCollider::_Dump(const type* node) \ +{ \ + if(node->HasPosLeaf()) mTouchedPrimitives->Add(udword(node->GetPosPrimitive())); \ + else _Dump(node->GetPos()); \ + \ + if(ContactFound()) return; \ + \ + if(node->HasNegLeaf()) mTouchedPrimitives->Add(udword(node->GetNegPrimitive())); \ + else _Dump(node->GetNeg()); \ +} + +#define IMPLEMENT_LEAFDUMP(type) \ +void VolumeCollider::_Dump(const type* node) \ +{ \ + if(node->IsLeaf()) \ + { \ + mTouchedPrimitives->Add(udword(node->GetPrimitive())); \ + } \ + else \ + { \ + _Dump(node->GetPos()); \ + \ + if(ContactFound()) return; \ + \ + _Dump(node->GetNeg()); \ + } \ +} + +IMPLEMENT_NOLEAFDUMP(AABBNoLeafNode) +IMPLEMENT_NOLEAFDUMP(AABBQuantizedNoLeafNode) + +IMPLEMENT_LEAFDUMP(AABBCollisionNode) +IMPLEMENT_LEAFDUMP(AABBQuantizedNode) diff --git a/libs/ode-0.16.1/OPCODE/OPC_VolumeCollider.h b/libs/ode-0.16.1/OPCODE/OPC_VolumeCollider.h new file mode 100644 index 0000000..c0b812e --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_VolumeCollider.h @@ -0,0 +1,138 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains base volume collider class. + * \file OPC_VolumeCollider.h + * \author Pierre Terdiman + * \date June, 2, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_VOLUMECOLLIDER_H__ +#define __OPC_VOLUMECOLLIDER_H__ + + struct OPCODE_API VolumeCache + { + VolumeCache() : Model(null) {} + ~VolumeCache() {} + + Container TouchedPrimitives; //!< Indices of touched primitives + const BaseModel* Model; //!< Owner + }; + + class OPCODE_API VolumeCollider : public Collider + { + public: + // Constructor / Destructor + VolumeCollider(); + virtual ~VolumeCollider() = 0; + + // Collision report + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the number of touched primitives after a collision query. + * \see GetContactStatus() + * \see GetTouchedPrimitives() + * \return the number of touched primitives + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetNbEntries() : 0; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Gets the list of touched primitives after a collision query. + * \see GetContactStatus() + * \see GetNbTouchedPrimitives() + * \return the list of touched primitives (primitive indices) + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ const udword* GetTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetEntries() : null; } + + // Stats + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Volume-BV overlap tests after a collision query. + * \see GetNbVolumePrimTests() + * \return the number of Volume-BV tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbVolumeBVTests() const { return mNbVolumeBVTests; } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Stats: gets the number of Volume-Triangle overlap tests after a collision query. + * \see GetNbVolumeBVTests() + * \return the number of Volume-Triangle tests performed during last query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + inline_ udword GetNbVolumePrimTests() const { return mNbVolumePrimTests; } + + // Settings + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. + * \return null if everything is ok, else a string describing the problem + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) const char* ValidateSettings(); + + protected: + // Touched primitives + Container* mTouchedPrimitives; //!< List of touched primitives + + // Dequantization coeffs + Point mCenterCoeff; + Point mExtentsCoeff; + // Stats + udword mNbVolumeBVTests; //!< Number of Volume-BV tests + udword mNbVolumePrimTests; //!< Number of Volume-Primitive tests + // Internal methods + void _Dump(const AABBCollisionNode* node); + void _Dump(const AABBNoLeafNode* node); + void _Dump(const AABBQuantizedNode* node); + void _Dump(const AABBQuantizedNoLeafNode* node); + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Initializes a query + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + override(Collider) inline_ void InitQuery() + { + // Reset stats & contact status + mNbVolumeBVTests = 0; + mNbVolumePrimTests = 0; + Collider::InitQuery(); + } + + inline_ BOOL IsCacheValid(VolumeCache& cache) + { + // We're going to do a volume-vs-model query. + if(cache.Model!=mCurrentModel) + { + // Cached list was for another model so we can't keep it + // Keep track of new owner and reset cache + cache.Model = mCurrentModel; + return FALSE; + } + else + { + // Same models, no problem + return TRUE; + } + } + }; + +#endif // __OPC_VOLUMECOLLIDER_H__ diff --git a/libs/ode-0.16.1/OPCODE/Opcode.cpp b/libs/ode-0.16.1/OPCODE/Opcode.cpp new file mode 100644 index 0000000..444619a --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Opcode.cpp @@ -0,0 +1,82 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main file for Opcode.dll. + * \file Opcode.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/* + Finding a good name is difficult! + Here's the draft for this lib.... Spooky, uh? + + VOID? Very Optimized Interference Detection + ZOID? Zappy's Optimized Interference Detection + CID? Custom/Clever Interference Detection + AID / ACID! Accurate Interference Detection + QUID? Quick Interference Detection + RIDE? Realtime Interference DEtection + WIDE? Wicked Interference DEtection (....) + GUID! + KID ! k-dop interference detection :) + OPCODE! OPtimized COllision DEtection +*/ + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + + +static OPCODE_AbortHandler g_fnAbortHandler = NULL; + + +bool Opcode::InitOpcode(OPCODE_AbortHandler fnAbortHandler/*=NULL*/) +{ + //Log("// Initializing OPCODE\n\n"); +// LogAPIInfo(); + + g_fnAbortHandler = fnAbortHandler; + return true; +} + +bool Opcode::CloseOpcode() +{ + //Log("// Closing OPCODE\n\n"); + + return true; +} + + +#ifdef ICE_MAIN + +void ModuleAttach(HINSTANCE hinstance) +{ +} + +void ModuleDetach() +{ +} + +#endif + +/*extern */ +void OPCODE_NORETURN IceAbort() +{ + if (g_fnAbortHandler != NULL) + { + g_fnAbortHandler(); + } + + abort(); +} diff --git a/libs/ode-0.16.1/OPCODE/Opcode.h b/libs/ode-0.16.1/OPCODE/Opcode.h new file mode 100644 index 0000000..4a98e36 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Opcode.h @@ -0,0 +1,126 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Main file for Opcode.dll. + * \file Opcode.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPCODE_H__ +#define __OPCODE_H__ + +// stddef.h and stdarg.h must be included before Opcode headers +// as they latermay not compile being not able to find types in std:: +#include <stddef.h> +#include <stdarg.h> + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Things to help us compile on non-windows platforms + +#if defined(__APPLE__) || defined(__MACOSX__) +#if __APPLE_CC__ < 1495 +#define sqrtf sqrt +#define sinf sin +#define cosf cos +#define acosf acos +#define asinf asin +#endif +#endif + +#ifndef _MSC_VER +#ifndef __int64 +#define __int64 long long int +#endif +#ifndef __stdcall /* this is defined in MinGW and CygWin, so avoid the warning */ +#define __stdcall /* */ +#endif +#endif + +#if defined(__GNUC__) +#define OPCODE_NORETURN __attribute__((noreturn)) +#elif defined(_MSC_VER) +#define OPCODE_NORETURN __declspec(noreturn) +#else // #if !defined(_MSC_VER) +#define OPCODE_NORETURN +#endif // #if !defined(__GNUC__) + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Compilation messages +#ifdef _MSC_VER + #if defined(OPCODE_EXPORTS) + // #pragma message("Compiling OPCODE") + #elif !defined(OPCODE_EXPORTS) + // #pragma message("Using OPCODE") + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Automatic linking + #ifndef BAN_OPCODE_AUTOLINK + #ifdef _DEBUG + //#pragma comment(lib, "Opcode_D.lib") + #else + //#pragma comment(lib, "Opcode.lib") + #endif + #endif + #endif +#endif + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Preprocessor +#ifndef ICE_NO_DLL + #ifdef OPCODE_EXPORTS + #define OPCODE_API// __declspec(dllexport) + #else + #define OPCODE_API// __declspec(dllimport) + #endif +#else + #define OPCODE_API +#endif + + #include "OPC_Settings.h" + #include "OPC_IceHook.h" + + namespace Opcode + { + // Bulk-of-the-work + #include "OPC_Common.h" + #include "OPC_MeshInterface.h" + // Builders + #include "OPC_TreeBuilders.h" + // Trees + #include "OPC_AABBTree.h" + #include "OPC_OptimizedTree.h" + // Models + #include "OPC_BaseModel.h" + #include "OPC_Model.h" + #include "OPC_HybridModel.h" + // Colliders + #include "OPC_Collider.h" + #include "OPC_VolumeCollider.h" + #include "OPC_TreeCollider.h" + #include "OPC_RayCollider.h" + #include "OPC_SphereCollider.h" + #include "OPC_OBBCollider.h" + #include "OPC_AABBCollider.h" + #include "OPC_LSSCollider.h" + #include "OPC_PlanesCollider.h" + // Usages + #include "OPC_Picking.h" + + + typedef void (*OPCODE_AbortHandler)(); + FUNCTION OPCODE_API bool InitOpcode(OPCODE_AbortHandler fnAbortHandler=NULL); + FUNCTION OPCODE_API bool CloseOpcode(); + } + +#endif // __OPCODE_H__ diff --git a/libs/ode-0.16.1/OPCODE/README-ODE.txt b/libs/ode-0.16.1/OPCODE/README-ODE.txt new file mode 100644 index 0000000..c5d5800 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/README-ODE.txt @@ -0,0 +1,13 @@ + +This is a copy of the OPCODE collision detection library by Pierre Terdiman. +See http://www.codercorner.com/Opcode.htm for more information, and read +the ReadMe.txt in this directory. + +If you want to use the TriList (triangle mesh) geometry class in ODE, the +OPCODE library must be compiled. If you are using the autotools support to +compile ODE, you just have to specify --with-trimesh=opcode when calling ./configure. + +This code was originally written for and compiled on windows, but it has been +ported so that it should compile under unix/gcc too. Your mileage may vary. + +Russ Smith, April 12 2005. diff --git a/libs/ode-0.16.1/OPCODE/ReadMe.txt b/libs/ode-0.16.1/OPCODE/ReadMe.txt new file mode 100644 index 0000000..8a39eff --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/ReadMe.txt @@ -0,0 +1,171 @@ + + OPCODE distribution 1.3 (june 2003) + ----------------------- + + New in Opcode 1.3: + - fixed the divide by 0 bug that was happening when all centers where located on a coordinate axis (thanks to Jorrit T) + - linearized "complete" vanilla AABB trees + - ANSI-compliant "for" loops (for the ones porting it to Linux...) + - callbacks & pointers moved to mesh interface + - support for triangle & vertex strides + - optimized the sphere-triangle overlap code a bit + - dynamic trees (refit) + - more builders + - ValidateSubdivision in builders + - LSS collider + - primitive-bv tests can now be skipped in most volume queries + - temporal coherence now also works for airborne objects + - temporal coherence completed for boxes / all contacts, LSS, etc + - ray-collider now uses a callback + - some common "usages" have been introduced (only picking for now) + - SPLIT_COMPLETE removed (now implicitely using mLimit = 1) + - hybrid collision models + - sweep-and-prune code added, moved from my old Z-Collide lib + - it now works with meshes made of only 1 triangle (except in mesh-mesh case!) + + Disclaimer: + + - I forced myself to actually *do* the release today no matter what. Else it would never have been done. That's + why the code may not be very polished. I also removed a *lot* of things (more usages, distance queries, etc...) + that weren't ready for prime-time (or that were linked to too many of my supporting libs) + + - Some comments may also be obsolete here and there. The old User Manual for Opcode 1.2 may not fit version 1.3 + either, since there's a new "mesh interface" to support strides, etc. + + - Everything in the "Ice" directory has been hacked out of my engine and edited until everything compiled. Don't + expect anything out there to be cute or something. In particular, some CPP files are not even included when not + needed, so you can expect some linker errors if you try messing around with them... + + Otherwise, it should be just like previous version, only better. In particular, hybrid models can be very + memory-friendly (sometimes using like 10 times less ram than the best trees from version 1.2). The possible + speed hit is often invisible (if it even exists), especially using temporal coherence in "all contacts" mode. + (Admittedly, this depends on your particular usage pattern / what you do on collided triangles). + + The sweep-and-prune code is similar to the "vanilla" version found in V-Collide (but that one's better IMHO...) + The simple "radix" version is often just as good, see for yourself. + + OPCODE distribution 1.2 (august 2002) + ----------------------- + + New in Opcode 1.2: + - new VolumeCollider base class + - simplified callback setup + - you can now use callbacks or pointers (setup at compile time) + - destination array not needed anymore in the RayCollider (faster in-out tests) + - renamed classes: AABBRayCollider => RayCollider, AABBSphereCollider => SphereCollider + - the sphere query now only returns a list of faces (extra info discarded). On the other hand it's a lot faster. + - OBB, AABB and planes queries. Original OBB and AABB queries contributed by Erwin de Vries. + - cosmetic changes in OPC_BoxBoxOverlap.h contributed by Gottfried Chen + - some inlining problems fixed + - faster ray-mesh tests using the separating axis theorem + - new split value in AABB tree construction (contributed by Igor Kravtchenko). Provides faster queries most of the time. + - improved temporal coherence for sphere & AABB queries (works in "All contacts" mode) + + Notes: + + - Everything in the "Ice code" directory (in VC++) is basically copy-pasted from my engine, with a lot + of code removed until there was no link error anymore. Don't expect those files to be cute or anything, + they've never been meant to be released and they're often updated/modified/messy. + - Some experimental features have been removed as well. Else I would never have released the 1.2... + - Not as polished/optimal as I would like it to be, but that's life. I promised myself to release it + before october 2002 (one YEAR later ?!).... That's the only reason why it's there. + - Some people reported ColDet was faster. Uh, come on. They were using Opcode in + "All contacts" mode whereas ColDet was doing "first contact"... + + OPCODE distribution 1.1 (october 2001) + ----------------------- + + New in Opcode 1.1: + - stabbing queries + - sphere queries + - abtract base class for colliders + - settings validation methods + - compilation flags now grouped in OPC_Settings.h + - smaller files, new VC++ virtual dirs (cleaner) + + Notes: + + - "override(baseclass)" is a personal cosmetic thing. It's the same as "virtual", but provides more info. + - I code in 1600*1200, so some lines may look a bit long.. + - This version is not as polished as the previous one due to lack of time. The stabbing & sphere queries + can still be optimized: for example by trying other atomic overlap tests. I'm using my first ray-AABB + code, but the newer one seems better. Tim Schröder's one is good as well. See: www.codercorner.com/RayAABB.cpp + - The trees can easily be compressed even more, I save this for later (lack of time, lack of time!) + - I removed various tests before releasing this one: + - a separation line, a.k.a. "front" in QuickCD, because gains were unclear + - distance queries in a PQP style, because it was way too slow + - support for deformable models, too slow as well + - You can easily use Opcode to do your player-vs-world collision detection, in a Nettle/Telemachos way. + If someone out there wants to donate some art / level for the cause, I'd be glad to release a demo. (current + demo uses copyrighted art I'm not allowed to spread) + - Sorry for the lack of real docs and/or solid examples. I just don't have enough time. + + OPCODE distribution 1.0 (march 2001) + ----------------------- + + - First release + + =============================================================================== + + WHAT ? + + OPCODE means OPtimized COllision DEtection. + So this is a collision detection package similar to RAPID. Here's a + quick list of features: + + - C++ interface, developed for Windows systems using VC++ 6.0 + - Works on arbitrary meshes (convex or non-convex), even polygon soups + - Current implementation uses AABB-trees + - Introduces Primitive-BV overlap tests during recursive collision queries (whereas + standard libraries only rely on Primitive-Primitive and BV-BV tests) + - Introduces no-leaf trees, i.e. collision trees whose leaf nodes have been removed + - Supports collision queries on quantized trees (decompressed on-the-fly) + - Supports "first contact" or "all contacts" modes (ā la RAPID) + - Uses temporal coherence for "first contact" mode (~10 to 20 times faster, useful + in rigid body simulation during bisection) + - Memory footprint is 7.2 times smaller than RAPID's one, which is ideal for console + games with limited ram (actually, if you use the unmodified RAPID code using double + precision, it's more like 13 times smaller...) + - And yet it often runs faster than RAPID (according to RDTSC, sometimes more than 5 + times faster when objects are deeply overlapping) + - Performance is usually close to RAPID's one in close-proximity situations + - Stabbing, planes & volume queries (sphere, AABB, OBB, LSS) + - Sweep-and-prune + - Now works with deformable meshes + - Hybrid trees + + + What it can be used for: + - standard mesh-mesh collision detection (similar to RAPID, SOLID, QuickCD, PQP, ColDet...) + - N-body collisions (similar to V-Collide) + - camera-vs-world collisions (similar to Telemachos/Paul Nettle/Stan Melax articles) + - shadow feelers to speed up lightmap computations + - in-out tests to speed up voxelization processes + - picking + - rigid body simulation + - view frustum culling + - etc + + WHY ? + + - Because RAPID uses too many bytes. + - Because the idea was nice... + + WHEN ? + + It's been coded in march 2001 following a thread on the GD-Algorithms list. + + GDAlgorithms-list mailing list + GDAlgorithms-list@lists.sourceforge.net + http://lists.sourceforge.net/lists/listinfo/gdalgorithms-list + + WHO ? + + Pierre Terdiman + June, 1, 2003 + + p.terdiman@wanadoo.fr + p.terdiman@codercorner.com + + http://www.codercorner.com + http://www.codercorner.com/Opcode.htm diff --git a/libs/ode-0.16.1/OPCODE/Stdafx.h b/libs/ode-0.16.1/OPCODE/Stdafx.h new file mode 100644 index 0000000..0223a6c --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Stdafx.h @@ -0,0 +1,24 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +#if !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) +#define AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_ + +#if _MSC_VER > 1000 +#pragma once +#endif // _MSC_VER > 1000 + +// Insert your headers here +#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers + +#include "Opcode.h" + +//{{AFX_INSERT_LOCATION}} +// Microsoft Visual C++ will insert additional declarations immediately before the previous line. + +#endif // !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) diff --git a/libs/ode-0.16.1/OPCODE/TemporalCoherence.txt b/libs/ode-0.16.1/OPCODE/TemporalCoherence.txt new file mode 100644 index 0000000..fb85931 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/TemporalCoherence.txt @@ -0,0 +1,32 @@ + +> Hi John, +> +> I know I'll forget to tell you this if I don't write it right now.... +> +> >(2) How is the receiving geometry for the shadow decided? +> +> I wrote about an LSS-test but actually performing a new VFC test (from the +> light's view) is the same. In both cases, here's a trick to take advantage +> of temporal coherence : test the world against a slightly larger than +> necessary LSS or frustum. Keep the list of touched surfaces. Then next +> frame, if the new volume is still contained within the previous one used +for +> the query, you can reuse the same list immediately. Actually it's a bit +> similar to what you did in your sphere-tree, I think. Anyway, now the +O(log +> N) VFC is O(1) for some frames. It's not worth it for the "real" VFC, but +> when you have N virtual frustum to test to drop N shadows, that's another +> story. +> +> Two downsides: +> - You need more ram to keep track of one list of meshes / shadow, but +> usually it's not a lot. +> - By using a larger volume for the query you possibly touch more +> faces/surfaces, which will be rendered in the shadow pass. Usually it's +not +> a problem either since rendering is simply faster than geometric queries +> those days. But of course, "your mileage may vary". +> +> Happy new year ! +> +> Pierre |