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Diffstat (limited to 'libs/ode-0.16.1/OPCODE/OPC_SphereCollider.cpp')
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1 files changed, 739 insertions, 0 deletions
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; +} |