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+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+/*
+
+standard ODE geometry primitives: public API and pairwise collision functions.
+
+the rule is that only the low level primitive collision functions should set
+dContactGeom::g1 and dContactGeom::g2.
+
+*/
+
+#include <ode/common.h>
+#include <ode/collision.h>
+#include <ode/rotation.h>
+#include "config.h"
+#include "matrix.h"
+#include "odemath.h"
+#include "collision_kernel.h"
+#include "collision_std.h"
+#include "collision_util.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+//****************************************************************************
+// capped cylinder public API
+
+dxCapsule::dxCapsule (dSpaceID space, dReal _radius, dReal _length) :
+dxGeom (space,1)
+{
+ dAASSERT (_radius >= 0 && _length >= 0);
+ type = dCapsuleClass;
+ radius = _radius;
+ lz = _length;
+ updateZeroSizedFlag(!_radius/* || !_length -- zero length capsule is not a zero sized capsule*/);
+}
+
+
+void dxCapsule::computeAABB()
+{
+ const dMatrix3& R = final_posr->R;
+ const dVector3& pos = final_posr->pos;
+
+ dReal xrange = dFabs(R[2] * lz) * REAL(0.5) + radius;
+ dReal yrange = dFabs(R[6] * lz) * REAL(0.5) + radius;
+ dReal zrange = dFabs(R[10] * lz) * REAL(0.5) + radius;
+ aabb[0] = pos[0] - xrange;
+ aabb[1] = pos[0] + xrange;
+ aabb[2] = pos[1] - yrange;
+ aabb[3] = pos[1] + yrange;
+ aabb[4] = pos[2] - zrange;
+ aabb[5] = pos[2] + zrange;
+}
+
+
+dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length)
+{
+ return new dxCapsule (space,radius,length);
+}
+
+
+void dGeomCapsuleSetParams (dGeomID g, dReal radius, dReal length)
+{
+ dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder");
+ dAASSERT (radius >= 0 && length >= 0);
+ dxCapsule *c = (dxCapsule*) g;
+ c->radius = radius;
+ c->lz = length;
+ c->updateZeroSizedFlag(!radius/* || !length -- zero length capsule is not a zero sized capsule*/);
+ dGeomMoved (g);
+}
+
+
+void dGeomCapsuleGetParams (dGeomID g, dReal *radius, dReal *length)
+{
+ dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder");
+ dxCapsule *c = (dxCapsule*) g;
+ *radius = c->radius;
+ *length = c->lz;
+}
+
+
+dReal dGeomCapsulePointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+ dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder");
+ g->recomputePosr();
+ dxCapsule *c = (dxCapsule*) g;
+
+ const dReal* R = g->final_posr->R;
+ const dReal* pos = g->final_posr->pos;
+
+ dVector3 a;
+ a[0] = x - pos[0];
+ a[1] = y - pos[1];
+ a[2] = z - pos[2];
+ dReal beta = dCalcVectorDot3_14(a,R+2);
+ dReal lz2 = c->lz*REAL(0.5);
+ if (beta < -lz2) beta = -lz2;
+ else if (beta > lz2) beta = lz2;
+ a[0] = c->final_posr->pos[0] + beta*R[0*4+2];
+ a[1] = c->final_posr->pos[1] + beta*R[1*4+2];
+ a[2] = c->final_posr->pos[2] + beta*R[2*4+2];
+ return c->radius -
+ dSqrt ((x-a[0])*(x-a[0]) + (y-a[1])*(y-a[1]) + (z-a[2])*(z-a[2]));
+}
+
+
+
+int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,
+ dContactGeom *contact, int skip)
+{
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (o1->type == dCapsuleClass);
+ dIASSERT (o2->type == dSphereClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
+
+ dxCapsule *ccyl = (dxCapsule*) o1;
+ dxSphere *sphere = (dxSphere*) o2;
+
+ contact->g1 = o1;
+ contact->g2 = o2;
+ contact->side1 = -1;
+ contact->side2 = -1;
+
+ // find the point on the cylinder axis that is closest to the sphere
+ dReal alpha =
+ o1->final_posr->R[2] * (o2->final_posr->pos[0] - o1->final_posr->pos[0]) +
+ o1->final_posr->R[6] * (o2->final_posr->pos[1] - o1->final_posr->pos[1]) +
+ o1->final_posr->R[10] * (o2->final_posr->pos[2] - o1->final_posr->pos[2]);
+ dReal lz2 = ccyl->lz * REAL(0.5);
+ if (alpha > lz2) alpha = lz2;
+ if (alpha < -lz2) alpha = -lz2;
+
+ // collide the spheres
+ dVector3 p;
+ p[0] = o1->final_posr->pos[0] + alpha * o1->final_posr->R[2];
+ p[1] = o1->final_posr->pos[1] + alpha * o1->final_posr->R[6];
+ p[2] = o1->final_posr->pos[2] + alpha * o1->final_posr->R[10];
+ return dCollideSpheres (p,ccyl->radius,o2->final_posr->pos,sphere->radius,contact);
+}
+
+
+int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
+ dContactGeom *contact, int skip)
+{
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (o1->type == dCapsuleClass);
+ dIASSERT (o2->type == dBoxClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
+
+ dxCapsule *cyl = (dxCapsule*) o1;
+ dxBox *box = (dxBox*) o2;
+
+ contact->g1 = o1;
+ contact->g2 = o2;
+ contact->side1 = -1;
+ contact->side2 = -1;
+
+ // get p1,p2 = cylinder axis endpoints, get radius
+ dVector3 p1,p2;
+ dReal clen = cyl->lz * REAL(0.5);
+ p1[0] = o1->final_posr->pos[0] + clen * o1->final_posr->R[2];
+ p1[1] = o1->final_posr->pos[1] + clen * o1->final_posr->R[6];
+ p1[2] = o1->final_posr->pos[2] + clen * o1->final_posr->R[10];
+ p2[0] = o1->final_posr->pos[0] - clen * o1->final_posr->R[2];
+ p2[1] = o1->final_posr->pos[1] - clen * o1->final_posr->R[6];
+ p2[2] = o1->final_posr->pos[2] - clen * o1->final_posr->R[10];
+ dReal radius = cyl->radius;
+
+ // copy out box center, rotation matrix, and side array
+ dReal *c = o2->final_posr->pos;
+ dReal *R = o2->final_posr->R;
+ const dReal *side = box->side;
+
+ // get the closest point between the cylinder axis and the box
+ dVector3 pl,pb;
+ dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
+
+ // if the capsule is penetrated further than radius
+ // then pl and pb are equal (up to mindist) -> unknown normal
+ // use normal vector of closest box surface
+#ifdef dSINGLE
+ dReal mindist = REAL(1e-6);
+#else
+ dReal mindist = REAL(1e-15);
+#endif
+ if (dCalcPointsDistance3(pl, pb)<mindist) {
+ // consider capsule as box
+ dVector3 normal;
+ dReal depth;
+ int code;
+ // WARNING! rad2 is declared as #define in Microsoft headers (as well as psh2, chx2, grp2, frm2, rct2, ico2, stc2, lst2, cmb2, edt2, scr2). Avoid abbreviations!
+ /* dReal rad2 = radius*REAL(2.0); */ dReal radiusMul2 = radius * REAL(2.0);
+ const dVector3 capboxside = {radiusMul2, radiusMul2, cyl->lz + radiusMul2};
+ int num = dBoxBox (c, R, side,
+ o1->final_posr->pos, o1->final_posr->R, capboxside,
+ normal, &depth, &code, flags, contact, skip);
+
+ for (int i=0; i<num; i++) {
+ dContactGeom *currContact = CONTACT(contact,i*skip);
+ currContact->normal[0] = normal[0];
+ currContact->normal[1] = normal[1];
+ currContact->normal[2] = normal[2];
+ currContact->g1 = o1;
+ currContact->g2 = o2;
+ currContact->side1 = -1;
+ currContact->side2 = -1;
+ }
+ return num;
+ } else {
+ // generate contact point
+ return dCollideSpheres (pl,radius,pb,0,contact);
+ }
+}
+
+
+int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
+ int flags, dContactGeom *contact, int skip)
+{
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (o1->type == dCapsuleClass);
+ dIASSERT (o2->type == dCapsuleClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
+
+ int i;
+ const dReal tolerance = REAL(1e-5);
+
+ dxCapsule *cyl1 = (dxCapsule*) o1;
+ dxCapsule *cyl2 = (dxCapsule*) o2;
+
+ contact->g1 = o1;
+ contact->g2 = o2;
+ contact->side1 = -1;
+ contact->side2 = -1;
+
+ // copy out some variables, for convenience
+ dReal lz1 = cyl1->lz * REAL(0.5);
+ dReal lz2 = cyl2->lz * REAL(0.5);
+ dReal *pos1 = o1->final_posr->pos;
+ dReal *pos2 = o2->final_posr->pos;
+ dReal axis1[3],axis2[3];
+ axis1[0] = o1->final_posr->R[2];
+ axis1[1] = o1->final_posr->R[6];
+ axis1[2] = o1->final_posr->R[10];
+ axis2[0] = o2->final_posr->R[2];
+ axis2[1] = o2->final_posr->R[6];
+ axis2[2] = o2->final_posr->R[10];
+
+ // if the cylinder axes are close to parallel, we'll try to detect up to
+ // two contact points along the body of the cylinder. if we can't find any
+ // points then we'll fall back to the closest-points algorithm. note that
+ // we are not treating this special case for reasons of degeneracy, but
+ // because we want two contact points in some situations. the closet-points
+ // algorithm is robust in all casts, but it can return only one contact.
+
+ dVector3 sphere1,sphere2;
+ dReal a1a2 = dCalcVectorDot3 (axis1,axis2);
+ dReal det = REAL(1.0)-a1a2*a1a2;
+ if (det < tolerance) {
+ // the cylinder axes (almost) parallel, so we will generate up to two
+ // contacts. alpha1 and alpha2 (line position parameters) are related by:
+ // alpha2 = alpha1 + (pos1-pos2)'*axis1 (if axis1==axis2)
+ // or alpha2 = -(alpha1 + (pos1-pos2)'*axis1) (if axis1==-axis2)
+ // first compute where the two cylinders overlap in alpha1 space:
+ if (a1a2 < 0) {
+ axis2[0] = -axis2[0];
+ axis2[1] = -axis2[1];
+ axis2[2] = -axis2[2];
+ }
+ dReal q[3];
+ for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i];
+ dReal k = dCalcVectorDot3 (axis1,q);
+ dReal a1lo = -lz1;
+ dReal a1hi = lz1;
+ dReal a2lo = -lz2 - k;
+ dReal a2hi = lz2 - k;
+ dReal lo = (a1lo > a2lo) ? a1lo : a2lo;
+ dReal hi = (a1hi < a2hi) ? a1hi : a2hi;
+ if (lo <= hi) {
+ int num_contacts = flags & NUMC_MASK;
+ if (num_contacts >= 2 && lo < hi) {
+ // generate up to two contacts. if one of those contacts is
+ // not made, fall back on the one-contact strategy.
+ for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i];
+ for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i];
+ int n1 = dCollideSpheres (sphere1,cyl1->radius,
+ sphere2,cyl2->radius,contact);
+ if (n1) {
+ for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i];
+ for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i];
+ dContactGeom *c2 = CONTACT(contact,skip);
+ int n2 = dCollideSpheres (sphere1,cyl1->radius,
+ sphere2,cyl2->radius, c2);
+ if (n2) {
+ c2->g1 = o1;
+ c2->g2 = o2;
+ c2->side1 = -1;
+ c2->side2 = -1;
+ return 2;
+ }
+ }
+ }
+
+ // just one contact to generate, so put it in the middle of
+ // the range
+ dReal alpha1 = (lo + hi) * REAL(0.5);
+ dReal alpha2 = alpha1 + k;
+ for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
+ for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
+ return dCollideSpheres (sphere1,cyl1->radius,
+ sphere2,cyl2->radius,contact);
+ }
+ }
+
+ // use the closest point algorithm
+ dVector3 a1,a2,b1,b2;
+ a1[0] = o1->final_posr->pos[0] + axis1[0]*lz1;
+ a1[1] = o1->final_posr->pos[1] + axis1[1]*lz1;
+ a1[2] = o1->final_posr->pos[2] + axis1[2]*lz1;
+ a2[0] = o1->final_posr->pos[0] - axis1[0]*lz1;
+ a2[1] = o1->final_posr->pos[1] - axis1[1]*lz1;
+ a2[2] = o1->final_posr->pos[2] - axis1[2]*lz1;
+ b1[0] = o2->final_posr->pos[0] + axis2[0]*lz2;
+ b1[1] = o2->final_posr->pos[1] + axis2[1]*lz2;
+ b1[2] = o2->final_posr->pos[2] + axis2[2]*lz2;
+ b2[0] = o2->final_posr->pos[0] - axis2[0]*lz2;
+ b2[1] = o2->final_posr->pos[1] - axis2[1]*lz2;
+ b2[2] = o2->final_posr->pos[2] - axis2[2]*lz2;
+
+ dClosestLineSegmentPoints (a1,a2,b1,b2,sphere1,sphere2);
+ return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact);
+}
+
+
+int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,
+ dContactGeom *contact, int skip)
+{
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (o1->type == dCapsuleClass);
+ dIASSERT (o2->type == dPlaneClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
+
+ dxCapsule *ccyl = (dxCapsule*) o1;
+ dxPlane *plane = (dxPlane*) o2;
+
+ // collide the deepest capping sphere with the plane
+ dReal sign = (dCalcVectorDot3_14 (plane->p,o1->final_posr->R+2) > 0) ? REAL(-1.0) : REAL(1.0);
+ dVector3 p;
+ p[0] = o1->final_posr->pos[0] + o1->final_posr->R[2] * ccyl->lz * REAL(0.5) * sign;
+ p[1] = o1->final_posr->pos[1] + o1->final_posr->R[6] * ccyl->lz * REAL(0.5) * sign;
+ p[2] = o1->final_posr->pos[2] + o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign;
+
+ dReal k = dCalcVectorDot3 (p,plane->p);
+ dReal depth = plane->p[3] - k + ccyl->radius;
+ if (depth < 0) return 0;
+ contact->normal[0] = plane->p[0];
+ contact->normal[1] = plane->p[1];
+ contact->normal[2] = plane->p[2];
+ contact->pos[0] = p[0] - plane->p[0] * ccyl->radius;
+ contact->pos[1] = p[1] - plane->p[1] * ccyl->radius;
+ contact->pos[2] = p[2] - plane->p[2] * ccyl->radius;
+ contact->depth = depth;
+
+ int ncontacts = 1;
+ if ((flags & NUMC_MASK) >= 2) {
+ // collide the other capping sphere with the plane
+ p[0] = o1->final_posr->pos[0] - o1->final_posr->R[2] * ccyl->lz * REAL(0.5) * sign;
+ p[1] = o1->final_posr->pos[1] - o1->final_posr->R[6] * ccyl->lz * REAL(0.5) * sign;
+ p[2] = o1->final_posr->pos[2] - o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign;
+
+ k = dCalcVectorDot3 (p,plane->p);
+ depth = plane->p[3] - k + ccyl->radius;
+ if (depth >= 0) {
+ dContactGeom *c2 = CONTACT(contact,skip);
+ c2->normal[0] = plane->p[0];
+ c2->normal[1] = plane->p[1];
+ c2->normal[2] = plane->p[2];
+ c2->pos[0] = p[0] - plane->p[0] * ccyl->radius;
+ c2->pos[1] = p[1] - plane->p[1] * ccyl->radius;
+ c2->pos[2] = p[2] - plane->p[2] * ccyl->radius;
+ c2->depth = depth;
+ ncontacts = 2;
+ }
+ }
+
+ for (int i=0; i < ncontacts; i++) {
+ dContactGeom *currContact = CONTACT(contact,i*skip);
+ currContact->g1 = o1;
+ currContact->g2 = o2;
+ currContact->side1 = -1;
+ currContact->side2 = -1;
+ }
+ return ncontacts;
+}
+
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