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diff --git a/libs/ode-0.16.1/ode/src/collision_cylinder_box.cpp b/libs/ode-0.16.1/ode/src/collision_cylinder_box.cpp
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+++ b/libs/ode-0.16.1/ode/src/collision_cylinder_box.cpp
@@ -0,0 +1,1038 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+/*
+ * Cylinder-box collider by Alen Ladavac
+ * Ported to ODE by Nguyen Binh
+ */
+
+#include <ode/collision.h>
+#include <ode/rotation.h>
+#include "config.h"
+#include "matrix.h"
+#include "odemath.h"
+#include "collision_util.h"
+
+static const int MAX_CYLBOX_CLIP_POINTS = 16;
+static const int nCYLINDER_AXIS = 2;
+// Number of segment of cylinder base circle.
+// Must be divisible by 4.
+static const int nCYLINDER_SEGMENT = 8;
+
+#define MAX_FLOAT dInfinity
+
+// Data that passed through the collider's functions
+struct sCylinderBoxData
+{
+ sCylinderBoxData(dxGeom *Cylinder, dxGeom *Box, int flags, dContactGeom *contact, int skip):
+ m_gBox(Box), m_gCylinder(Cylinder), m_gContact(contact), m_iFlags(flags), m_iSkip(skip), m_nContacts(0)
+ {
+ }
+
+ void _cldInitCylinderBox();
+ int _cldTestAxis( dVector3& vInputNormal, int iAxis );
+ int _cldTestEdgeCircleAxis( const dVector3 &vCenterPoint,
+ const dVector3 &vVx0, const dVector3 &vVx1, int iAxis );
+ int _cldTestSeparatingAxes();
+ int _cldClipCylinderToBox();
+ void _cldClipBoxToCylinder();
+ int PerformCollisionChecking();
+
+ // cylinder parameters
+ dMatrix3 m_mCylinderRot;
+ dVector3 m_vCylinderPos;
+ dVector3 m_vCylinderAxis;
+ dReal m_fCylinderRadius;
+ dReal m_fCylinderSize;
+ dVector3 m_avCylinderNormals[nCYLINDER_SEGMENT];
+
+ // box parameters
+
+ dMatrix3 m_mBoxRot;
+ dVector3 m_vBoxPos;
+ dVector3 m_vBoxHalfSize;
+ // box vertices array : 8 vertices
+ dVector3 m_avBoxVertices[8];
+
+ // global collider data
+ dVector3 m_vDiff;
+ dVector3 m_vNormal;
+ dReal m_fBestDepth;
+ dReal m_fBestrb;
+ dReal m_fBestrc;
+ int m_iBestAxis;
+
+ // contact data
+ dVector3 m_vEp0, m_vEp1;
+ dReal m_fDepth0, m_fDepth1;
+
+ // ODE stuff
+ dGeomID m_gBox;
+ dGeomID m_gCylinder;
+ dContactGeom* m_gContact;
+ int m_iFlags;
+ int m_iSkip;
+ int m_nContacts;
+
+};
+
+
+// initialize collision data
+void sCylinderBoxData::_cldInitCylinderBox()
+{
+ // get cylinder position, orientation
+ const dReal* pRotCyc = dGeomGetRotation(m_gCylinder);
+ dMatrix3Copy(pRotCyc,m_mCylinderRot);
+
+ const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(m_gCylinder);
+ dVector3Copy(*pPosCyc,m_vCylinderPos);
+
+ dMat3GetCol(m_mCylinderRot,nCYLINDER_AXIS,m_vCylinderAxis);
+
+ // get cylinder radius and size
+ dGeomCylinderGetParams(m_gCylinder,&m_fCylinderRadius,&m_fCylinderSize);
+
+ // get box position, orientation, size
+ const dReal* pRotBox = dGeomGetRotation(m_gBox);
+ dMatrix3Copy(pRotBox,m_mBoxRot);
+ const dVector3* pPosBox = (const dVector3*)dGeomGetPosition(m_gBox);
+ dVector3Copy(*pPosBox,m_vBoxPos);
+
+ dGeomBoxGetLengths(m_gBox, m_vBoxHalfSize);
+ m_vBoxHalfSize[0] *= REAL(0.5);
+ m_vBoxHalfSize[1] *= REAL(0.5);
+ m_vBoxHalfSize[2] *= REAL(0.5);
+
+ // vertex 0
+ m_avBoxVertices[0][0] = -m_vBoxHalfSize[0];
+ m_avBoxVertices[0][1] = m_vBoxHalfSize[1];
+ m_avBoxVertices[0][2] = -m_vBoxHalfSize[2];
+
+ // vertex 1
+ m_avBoxVertices[1][0] = m_vBoxHalfSize[0];
+ m_avBoxVertices[1][1] = m_vBoxHalfSize[1];
+ m_avBoxVertices[1][2] = -m_vBoxHalfSize[2];
+
+ // vertex 2
+ m_avBoxVertices[2][0] = -m_vBoxHalfSize[0];
+ m_avBoxVertices[2][1] = -m_vBoxHalfSize[1];
+ m_avBoxVertices[2][2] = -m_vBoxHalfSize[2];
+
+ // vertex 3
+ m_avBoxVertices[3][0] = m_vBoxHalfSize[0];
+ m_avBoxVertices[3][1] = -m_vBoxHalfSize[1];
+ m_avBoxVertices[3][2] = -m_vBoxHalfSize[2];
+
+ // vertex 4
+ m_avBoxVertices[4][0] = m_vBoxHalfSize[0];
+ m_avBoxVertices[4][1] = m_vBoxHalfSize[1];
+ m_avBoxVertices[4][2] = m_vBoxHalfSize[2];
+
+ // vertex 5
+ m_avBoxVertices[5][0] = m_vBoxHalfSize[0];
+ m_avBoxVertices[5][1] = -m_vBoxHalfSize[1];
+ m_avBoxVertices[5][2] = m_vBoxHalfSize[2];
+
+ // vertex 6
+ m_avBoxVertices[6][0] = -m_vBoxHalfSize[0];
+ m_avBoxVertices[6][1] = -m_vBoxHalfSize[1];
+ m_avBoxVertices[6][2] = m_vBoxHalfSize[2];
+
+ // vertex 7
+ m_avBoxVertices[7][0] = -m_vBoxHalfSize[0];
+ m_avBoxVertices[7][1] = m_vBoxHalfSize[1];
+ m_avBoxVertices[7][2] = m_vBoxHalfSize[2];
+
+ // temp index
+ int i = 0;
+ dVector3 vTempBoxVertices[8];
+ // transform vertices in absolute space
+ for(i=0; i < 8; i++)
+ {
+ dMultiplyMat3Vec3(m_mBoxRot,m_avBoxVertices[i], vTempBoxVertices[i]);
+ dVector3Add(vTempBoxVertices[i], m_vBoxPos, m_avBoxVertices[i]);
+ }
+
+ // find relative position
+ dVector3Subtract(m_vCylinderPos,m_vBoxPos,m_vDiff);
+ m_fBestDepth = MAX_FLOAT;
+ m_vNormal[0] = REAL(0.0);
+ m_vNormal[1] = REAL(0.0);
+ m_vNormal[2] = REAL(0.0);
+
+ // calculate basic angle for nCYLINDER_SEGMENT-gon
+ dReal fAngle = (dReal) (M_PI/nCYLINDER_SEGMENT);
+
+ // calculate angle increment
+ dReal fAngleIncrement = fAngle * REAL(2.0);
+
+ // calculate nCYLINDER_SEGMENT-gon points
+ for(i = 0; i < nCYLINDER_SEGMENT; i++)
+ {
+ m_avCylinderNormals[i][0] = -dCos(fAngle);
+ m_avCylinderNormals[i][1] = -dSin(fAngle);
+ m_avCylinderNormals[i][2] = 0;
+
+ fAngle += fAngleIncrement;
+ }
+
+ m_fBestrb = 0;
+ m_fBestrc = 0;
+ m_iBestAxis = 0;
+ m_nContacts = 0;
+
+}
+
+// test for given separating axis
+int sCylinderBoxData::_cldTestAxis( dVector3& vInputNormal, int iAxis )
+{
+ // check length of input normal
+ dReal fL = dVector3Length(vInputNormal);
+ // if not long enough
+ if ( fL < REAL(1e-5) )
+ {
+ // do nothing
+ return 1;
+ }
+
+ // otherwise make it unit for sure
+ dNormalize3(vInputNormal);
+
+ // project box and Cylinder on mAxis
+ dReal fdot1 = dVector3Dot(m_vCylinderAxis, vInputNormal);
+
+ dReal frc;
+
+ if (fdot1 > REAL(1.0))
+ {
+ // assume fdot1 = 1
+ frc = m_fCylinderSize*REAL(0.5);
+ }
+ else if (fdot1 < REAL(-1.0))
+ {
+ // assume fdot1 = -1
+ frc = m_fCylinderSize*REAL(0.5);
+ }
+ else
+ {
+ // project box and capsule on iAxis
+ frc = dFabs( fdot1 * (m_fCylinderSize*REAL(0.5))) + m_fCylinderRadius * dSqrt(REAL(1.0)-(fdot1*fdot1));
+ }
+
+ dVector3 vTemp1;
+
+ dMat3GetCol(m_mBoxRot,0,vTemp1);
+ dReal frb = dFabs(dVector3Dot(vTemp1,vInputNormal))*m_vBoxHalfSize[0];
+
+ dMat3GetCol(m_mBoxRot,1,vTemp1);
+ frb += dFabs(dVector3Dot(vTemp1,vInputNormal))*m_vBoxHalfSize[1];
+
+ dMat3GetCol(m_mBoxRot,2,vTemp1);
+ frb += dFabs(dVector3Dot(vTemp1,vInputNormal))*m_vBoxHalfSize[2];
+
+ // project their distance on separating axis
+ dReal fd = dVector3Dot(m_vDiff,vInputNormal);
+
+ // get depth
+
+ dReal fDepth = frc + frb; // Calculate partial depth
+
+ // if they do not overlap exit, we have no intersection
+ if ( dFabs(fd) > fDepth )
+ {
+ return 0;
+ }
+
+ // Finalyze the depth calculation
+ fDepth -= dFabs(fd);
+
+ // get maximum depth
+ if ( fDepth < m_fBestDepth )
+ {
+ m_fBestDepth = fDepth;
+ dVector3Copy(vInputNormal,m_vNormal);
+ m_iBestAxis = iAxis;
+ m_fBestrb = frb;
+ m_fBestrc = frc;
+
+ // flip normal if interval is wrong faced
+ if (fd > 0)
+ {
+ dVector3Inv(m_vNormal);
+ }
+ }
+
+ return 1;
+}
+
+
+// check for separation between box edge and cylinder circle edge
+int sCylinderBoxData::_cldTestEdgeCircleAxis(
+ const dVector3 &vCenterPoint,
+ const dVector3 &vVx0, const dVector3 &vVx1,
+ int iAxis )
+{
+ // calculate direction of edge
+ dVector3 vDirEdge;
+ dVector3Subtract(vVx1,vVx0,vDirEdge);
+ dNormalize3(vDirEdge);
+ // starting point of edge
+ dVector3 vEStart;
+ dVector3Copy(vVx0,vEStart);;
+
+ // calculate angle cosine between cylinder axis and edge
+ dReal fdot2 = dVector3Dot (vDirEdge,m_vCylinderAxis);
+
+ // if edge is perpendicular to cylinder axis
+ if(dFabs(fdot2) < REAL(1e-5))
+ {
+ // this can't be separating axis, because edge is parallel to circle plane
+ return 1;
+ }
+
+ // find point of intersection between edge line and circle plane
+ dVector3 vTemp1;
+ dVector3Subtract(vCenterPoint,vEStart,vTemp1);
+ dReal fdot1 = dVector3Dot(vTemp1,m_vCylinderAxis);
+ dVector3 vpnt;
+ vpnt[0]= vEStart[0] + vDirEdge[0] * (fdot1/fdot2);
+ vpnt[1]= vEStart[1] + vDirEdge[1] * (fdot1/fdot2);
+ vpnt[2]= vEStart[2] + vDirEdge[2] * (fdot1/fdot2);
+
+ // find tangent vector on circle with same center (vCenterPoint) that
+ // touches point of intersection (vpnt)
+ dVector3 vTangent;
+ dVector3Subtract(vCenterPoint,vpnt,vTemp1);
+ dVector3Cross(vTemp1,m_vCylinderAxis,vTangent);
+
+ // find vector orthogonal both to tangent and edge direction
+ dVector3 vAxis;
+ dVector3Cross(vTangent,vDirEdge,vAxis);
+
+ // use that vector as separating axis
+ return _cldTestAxis( vAxis, iAxis );
+}
+
+// Test separating axis for collision
+int sCylinderBoxData::_cldTestSeparatingAxes()
+{
+ // reset best axis
+ m_fBestDepth = MAX_FLOAT;
+ m_iBestAxis = 0;
+ m_fBestrb = 0;
+ m_fBestrc = 0;
+ m_nContacts = 0;
+
+ dVector3 vAxis = {REAL(0.0),REAL(0.0),REAL(0.0),REAL(0.0)};
+
+ // Epsilon value for checking axis vector length
+ const dReal fEpsilon = REAL(1e-6);
+
+ // axis A0
+ dMat3GetCol(m_mBoxRot, 0 , vAxis);
+ if (!_cldTestAxis( vAxis, 1 ))
+ {
+ return 0;
+ }
+
+ // axis A1
+ dMat3GetCol(m_mBoxRot, 1 , vAxis);
+ if (!_cldTestAxis( vAxis, 2 ))
+ {
+ return 0;
+ }
+
+ // axis A2
+ dMat3GetCol(m_mBoxRot, 2 , vAxis);
+ if (!_cldTestAxis( vAxis, 3 ))
+ {
+ return 0;
+ }
+
+ // axis C - Cylinder Axis
+ //vAxis = vCylinderAxis;
+ dVector3Copy(m_vCylinderAxis , vAxis);
+ if (!_cldTestAxis( vAxis, 4 ))
+ {
+ return 0;
+ }
+
+ // axis CxA0
+ //vAxis = ( vCylinderAxis cross mthGetColM33f( mBoxRot, 0 ));
+ dVector3CrossMat3Col(m_mBoxRot, 0 ,m_vCylinderAxis, vAxis);
+ if(dVector3LengthSquare( vAxis ) > fEpsilon )
+ {
+ if (!_cldTestAxis( vAxis, 5 ))
+ {
+ return 0;
+ }
+ }
+
+ // axis CxA1
+ //vAxis = ( vCylinderAxis cross mthGetColM33f( mBoxRot, 1 ));
+ dVector3CrossMat3Col(m_mBoxRot, 1 ,m_vCylinderAxis, vAxis);
+ if(dVector3LengthSquare( vAxis ) > fEpsilon )
+ {
+ if (!_cldTestAxis( vAxis, 6 ))
+ {
+ return 0;
+ }
+ }
+
+ // axis CxA2
+ //vAxis = ( vCylinderAxis cross mthGetColM33f( mBoxRot, 2 ));
+ dVector3CrossMat3Col(m_mBoxRot, 2 ,m_vCylinderAxis, vAxis);
+ if(dVector3LengthSquare( vAxis ) > fEpsilon )
+ {
+ if (!_cldTestAxis( vAxis, 7 ))
+ {
+ return 0;
+ }
+ }
+
+ int i = 0;
+ dVector3 vTemp1;
+ dVector3 vTemp2;
+ // here we check box's vertices axis
+ for(i=0; i< 8; i++)
+ {
+ //vAxis = ( vCylinderAxis cross (m_avBoxVertices[i] - vCylinderPos));
+ dVector3Subtract(m_avBoxVertices[i],m_vCylinderPos,vTemp1);
+ dVector3Cross(m_vCylinderAxis,vTemp1,vTemp2);
+ //vAxis = ( vCylinderAxis cross vAxis );
+ dVector3Cross(m_vCylinderAxis,vTemp2,vAxis);
+ if(dVector3LengthSquare( vAxis ) > fEpsilon )
+ {
+ if (!_cldTestAxis( vAxis, 8 + i ))
+ {
+ return 0;
+ }
+ }
+ }
+
+ // ************************************
+ // this is defined for first 12 axes
+ // normal of plane that contains top circle of cylinder
+ // center of top circle of cylinder
+ dVector3 vcc;
+ vcc[0] = (m_vCylinderPos)[0] + m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
+ vcc[1] = (m_vCylinderPos)[1] + m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
+ vcc[2] = (m_vCylinderPos)[2] + m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
+ // ************************************
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[1], m_avBoxVertices[0], 16))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[1], m_avBoxVertices[3], 17))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[2], m_avBoxVertices[3], 18))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[2], m_avBoxVertices[0], 19))
+ {
+ return 0;
+ }
+
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[4], m_avBoxVertices[1], 20))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[4], m_avBoxVertices[7], 21))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[0], m_avBoxVertices[7], 22))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[5], m_avBoxVertices[3], 23))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[5], m_avBoxVertices[6], 24))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[2], m_avBoxVertices[6], 25))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[4], m_avBoxVertices[5], 26))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[6], m_avBoxVertices[7], 27))
+ {
+ return 0;
+ }
+
+ // ************************************
+ // this is defined for second 12 axes
+ // normal of plane that contains bottom circle of cylinder
+ // center of bottom circle of cylinder
+ // vcc = vCylinderPos - vCylinderAxis*(fCylinderSize*REAL(0.5));
+ vcc[0] = (m_vCylinderPos)[0] - m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
+ vcc[1] = (m_vCylinderPos)[1] - m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
+ vcc[2] = (m_vCylinderPos)[2] - m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
+ // ************************************
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[1], m_avBoxVertices[0], 28))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[1], m_avBoxVertices[3], 29))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[2], m_avBoxVertices[3], 30))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[2], m_avBoxVertices[0], 31))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[4], m_avBoxVertices[1], 32))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[4], m_avBoxVertices[7], 33))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[0], m_avBoxVertices[7], 34))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[5], m_avBoxVertices[3], 35))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[5], m_avBoxVertices[6], 36))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[2], m_avBoxVertices[6], 37))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[4], m_avBoxVertices[5], 38))
+ {
+ return 0;
+ }
+
+ if (!_cldTestEdgeCircleAxis( vcc, m_avBoxVertices[6], m_avBoxVertices[7], 39))
+ {
+ return 0;
+ }
+
+ return 1;
+}
+
+int sCylinderBoxData::_cldClipCylinderToBox()
+{
+ dIASSERT(m_nContacts != (m_iFlags & NUMC_MASK));
+
+ // calculate that vector perpendicular to cylinder axis which closes lowest angle with collision normal
+ dVector3 vN;
+ dReal fTemp1 = dVector3Dot(m_vCylinderAxis,m_vNormal);
+ vN[0] = m_vNormal[0] - m_vCylinderAxis[0]*fTemp1;
+ vN[1] = m_vNormal[1] - m_vCylinderAxis[1]*fTemp1;
+ vN[2] = m_vNormal[2] - m_vCylinderAxis[2]*fTemp1;
+
+ // normalize that vector
+ dNormalize3(vN);
+
+ // translate cylinder end points by the vector
+ dVector3 vCposTrans;
+ vCposTrans[0] = m_vCylinderPos[0] + vN[0] * m_fCylinderRadius;
+ vCposTrans[1] = m_vCylinderPos[1] + vN[1] * m_fCylinderRadius;
+ vCposTrans[2] = m_vCylinderPos[2] + vN[2] * m_fCylinderRadius;
+
+ m_vEp0[0] = vCposTrans[0] + m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
+ m_vEp0[1] = vCposTrans[1] + m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
+ m_vEp0[2] = vCposTrans[2] + m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
+
+ m_vEp1[0] = vCposTrans[0] - m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
+ m_vEp1[1] = vCposTrans[1] - m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
+ m_vEp1[2] = vCposTrans[2] - m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
+
+ // transform edge points in box space
+ m_vEp0[0] -= m_vBoxPos[0];
+ m_vEp0[1] -= m_vBoxPos[1];
+ m_vEp0[2] -= m_vBoxPos[2];
+
+ m_vEp1[0] -= m_vBoxPos[0];
+ m_vEp1[1] -= m_vBoxPos[1];
+ m_vEp1[2] -= m_vBoxPos[2];
+
+ dVector3 vTemp1;
+ // clip the edge to box
+ dVector4 plPlane;
+ // plane 0 +x
+ dMat3GetCol(m_mBoxRot,0,vTemp1);
+ dConstructPlane(vTemp1,m_vBoxHalfSize[0],plPlane);
+ if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
+ {
+ return 0;
+ }
+
+ // plane 1 +y
+ dMat3GetCol(m_mBoxRot,1,vTemp1);
+ dConstructPlane(vTemp1,m_vBoxHalfSize[1],plPlane);
+ if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
+ {
+ return 0;
+ }
+
+ // plane 2 +z
+ dMat3GetCol(m_mBoxRot,2,vTemp1);
+ dConstructPlane(vTemp1,m_vBoxHalfSize[2],plPlane);
+ if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
+ {
+ return 0;
+ }
+
+ // plane 3 -x
+ dMat3GetCol(m_mBoxRot,0,vTemp1);
+ dVector3Inv(vTemp1);
+ dConstructPlane(vTemp1,m_vBoxHalfSize[0],plPlane);
+ if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
+ {
+ return 0;
+ }
+
+ // plane 4 -y
+ dMat3GetCol(m_mBoxRot,1,vTemp1);
+ dVector3Inv(vTemp1);
+ dConstructPlane(vTemp1,m_vBoxHalfSize[1],plPlane);
+ if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
+ {
+ return 0;
+ }
+
+ // plane 5 -z
+ dMat3GetCol(m_mBoxRot,2,vTemp1);
+ dVector3Inv(vTemp1);
+ dConstructPlane(vTemp1,m_vBoxHalfSize[2],plPlane);
+ if(!dClipEdgeToPlane( m_vEp0, m_vEp1, plPlane ))
+ {
+ return 0;
+ }
+
+ // calculate depths for both contact points
+ m_fDepth0 = m_fBestrb + dVector3Dot(m_vEp0, m_vNormal);
+ m_fDepth1 = m_fBestrb + dVector3Dot(m_vEp1, m_vNormal);
+
+ // clamp depths to 0
+ if(m_fDepth0<0)
+ {
+ m_fDepth0 = REAL(0.0);
+ }
+
+ if(m_fDepth1<0)
+ {
+ m_fDepth1 = REAL(0.0);
+ }
+
+ // back transform edge points from box to absolute space
+ m_vEp0[0] += m_vBoxPos[0];
+ m_vEp0[1] += m_vBoxPos[1];
+ m_vEp0[2] += m_vBoxPos[2];
+
+ m_vEp1[0] += m_vBoxPos[0];
+ m_vEp1[1] += m_vBoxPos[1];
+ m_vEp1[2] += m_vBoxPos[2];
+
+ dContactGeom* Contact0 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
+ Contact0->depth = m_fDepth0;
+ dVector3Copy(m_vNormal,Contact0->normal);
+ dVector3Copy(m_vEp0,Contact0->pos);
+ Contact0->g1 = m_gCylinder;
+ Contact0->g2 = m_gBox;
+ Contact0->side1 = -1;
+ Contact0->side2 = -1;
+ dVector3Inv(Contact0->normal);
+ m_nContacts++;
+
+ if (m_nContacts != (m_iFlags & NUMC_MASK))
+ {
+ dContactGeom* Contact1 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
+ Contact1->depth = m_fDepth1;
+ dVector3Copy(m_vNormal,Contact1->normal);
+ dVector3Copy(m_vEp1,Contact1->pos);
+ Contact1->g1 = m_gCylinder;
+ Contact1->g2 = m_gBox;
+ Contact1->side1 = -1;
+ Contact1->side2 = -1;
+ dVector3Inv(Contact1->normal);
+ m_nContacts++;
+ }
+
+ return 1;
+}
+
+
+void sCylinderBoxData::_cldClipBoxToCylinder()
+{
+ dIASSERT(m_nContacts != (m_iFlags & NUMC_MASK));
+
+ dVector3 vCylinderCirclePos, vCylinderCircleNormal_Rel;
+ // check which circle from cylinder we take for clipping
+ if ( dVector3Dot(m_vCylinderAxis, m_vNormal) > REAL(0.0) )
+ {
+ // get top circle
+ vCylinderCirclePos[0] = m_vCylinderPos[0] + m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
+ vCylinderCirclePos[1] = m_vCylinderPos[1] + m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
+ vCylinderCirclePos[2] = m_vCylinderPos[2] + m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
+
+ vCylinderCircleNormal_Rel[0] = REAL(0.0);
+ vCylinderCircleNormal_Rel[1] = REAL(0.0);
+ vCylinderCircleNormal_Rel[2] = REAL(0.0);
+ vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(-1.0);
+ }
+ else
+ {
+ // get bottom circle
+ vCylinderCirclePos[0] = m_vCylinderPos[0] - m_vCylinderAxis[0]*(m_fCylinderSize*REAL(0.5));
+ vCylinderCirclePos[1] = m_vCylinderPos[1] - m_vCylinderAxis[1]*(m_fCylinderSize*REAL(0.5));
+ vCylinderCirclePos[2] = m_vCylinderPos[2] - m_vCylinderAxis[2]*(m_fCylinderSize*REAL(0.5));
+
+ vCylinderCircleNormal_Rel[0] = REAL(0.0);
+ vCylinderCircleNormal_Rel[1] = REAL(0.0);
+ vCylinderCircleNormal_Rel[2] = REAL(0.0);
+ vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(1.0);
+ }
+
+ // vNr is normal in Box frame, pointing from Cylinder to Box
+ dVector3 vNr;
+ dMatrix3 mBoxInv;
+
+ // Find a way to use quaternion
+ dMatrix3Inv(m_mBoxRot,mBoxInv);
+ dMultiplyMat3Vec3(mBoxInv,m_vNormal,vNr);
+
+ dVector3 vAbsNormal;
+
+ vAbsNormal[0] = dFabs( vNr[0] );
+ vAbsNormal[1] = dFabs( vNr[1] );
+ vAbsNormal[2] = dFabs( vNr[2] );
+
+ // find which face in box is closest to cylinder
+ int iB0, iB1, iB2;
+
+ // Different from Croteam's code
+ if (vAbsNormal[1] > vAbsNormal[0])
+ {
+ // 1 > 0
+ if (vAbsNormal[0]> vAbsNormal[2])
+ {
+ // 0 > 2 -> 1 > 0 >2
+ iB0 = 1; iB1 = 0; iB2 = 2;
+ }
+ else
+ {
+ // 2 > 0-> Must compare 1 and 2
+ if (vAbsNormal[1] > vAbsNormal[2])
+ {
+ // 1 > 2 -> 1 > 2 > 0
+ iB0 = 1; iB1 = 2; iB2 = 0;
+ }
+ else
+ {
+ // 2 > 1 -> 2 > 1 > 0;
+ iB0 = 2; iB1 = 1; iB2 = 0;
+ }
+ }
+ }
+ else
+ {
+ // 0 > 1
+ if (vAbsNormal[1] > vAbsNormal[2])
+ {
+ // 1 > 2 -> 0 > 1 > 2
+ iB0 = 0; iB1 = 1; iB2 = 2;
+ }
+ else
+ {
+ // 2 > 1 -> Must compare 0 and 2
+ if (vAbsNormal[0] > vAbsNormal[2])
+ {
+ // 0 > 2 -> 0 > 2 > 1;
+ iB0 = 0; iB1 = 2; iB2 = 1;
+ }
+ else
+ {
+ // 2 > 0 -> 2 > 0 > 1;
+ iB0 = 2; iB1 = 0; iB2 = 1;
+ }
+ }
+ }
+
+ dVector3 vCenter;
+ // find center of box polygon
+ dVector3 vTemp;
+ if (vNr[iB0] > 0)
+ {
+ dMat3GetCol(m_mBoxRot,iB0,vTemp);
+ vCenter[0] = m_vBoxPos[0] - m_vBoxHalfSize[iB0]*vTemp[0];
+ vCenter[1] = m_vBoxPos[1] - m_vBoxHalfSize[iB0]*vTemp[1];
+ vCenter[2] = m_vBoxPos[2] - m_vBoxHalfSize[iB0]*vTemp[2];
+ }
+ else
+ {
+ dMat3GetCol(m_mBoxRot,iB0,vTemp);
+ vCenter[0] = m_vBoxPos[0] + m_vBoxHalfSize[iB0]*vTemp[0];
+ vCenter[1] = m_vBoxPos[1] + m_vBoxHalfSize[iB0]*vTemp[1];
+ vCenter[2] = m_vBoxPos[2] + m_vBoxHalfSize[iB0]*vTemp[2];
+ }
+
+ // find the vertices of box polygon
+ dVector3 avPoints[4];
+ dVector3 avTempArray1[MAX_CYLBOX_CLIP_POINTS];
+ dVector3 avTempArray2[MAX_CYLBOX_CLIP_POINTS];
+
+ int i=0;
+ for(i=0; i<MAX_CYLBOX_CLIP_POINTS; i++)
+ {
+ avTempArray1[i][0] = REAL(0.0);
+ avTempArray1[i][1] = REAL(0.0);
+ avTempArray1[i][2] = REAL(0.0);
+
+ avTempArray2[i][0] = REAL(0.0);
+ avTempArray2[i][1] = REAL(0.0);
+ avTempArray2[i][2] = REAL(0.0);
+ }
+
+ dVector3 vAxis1, vAxis2;
+
+ dMat3GetCol(m_mBoxRot,iB1,vAxis1);
+ dMat3GetCol(m_mBoxRot,iB2,vAxis2);
+
+ avPoints[0][0] = vCenter[0] + m_vBoxHalfSize[iB1] * vAxis1[0] - m_vBoxHalfSize[iB2] * vAxis2[0];
+ avPoints[0][1] = vCenter[1] + m_vBoxHalfSize[iB1] * vAxis1[1] - m_vBoxHalfSize[iB2] * vAxis2[1];
+ avPoints[0][2] = vCenter[2] + m_vBoxHalfSize[iB1] * vAxis1[2] - m_vBoxHalfSize[iB2] * vAxis2[2];
+
+ avPoints[1][0] = vCenter[0] - m_vBoxHalfSize[iB1] * vAxis1[0] - m_vBoxHalfSize[iB2] * vAxis2[0];
+ avPoints[1][1] = vCenter[1] - m_vBoxHalfSize[iB1] * vAxis1[1] - m_vBoxHalfSize[iB2] * vAxis2[1];
+ avPoints[1][2] = vCenter[2] - m_vBoxHalfSize[iB1] * vAxis1[2] - m_vBoxHalfSize[iB2] * vAxis2[2];
+
+ avPoints[2][0] = vCenter[0] - m_vBoxHalfSize[iB1] * vAxis1[0] + m_vBoxHalfSize[iB2] * vAxis2[0];
+ avPoints[2][1] = vCenter[1] - m_vBoxHalfSize[iB1] * vAxis1[1] + m_vBoxHalfSize[iB2] * vAxis2[1];
+ avPoints[2][2] = vCenter[2] - m_vBoxHalfSize[iB1] * vAxis1[2] + m_vBoxHalfSize[iB2] * vAxis2[2];
+
+ avPoints[3][0] = vCenter[0] + m_vBoxHalfSize[iB1] * vAxis1[0] + m_vBoxHalfSize[iB2] * vAxis2[0];
+ avPoints[3][1] = vCenter[1] + m_vBoxHalfSize[iB1] * vAxis1[1] + m_vBoxHalfSize[iB2] * vAxis2[1];
+ avPoints[3][2] = vCenter[2] + m_vBoxHalfSize[iB1] * vAxis1[2] + m_vBoxHalfSize[iB2] * vAxis2[2];
+
+ // transform box points to space of cylinder circle
+ dMatrix3 mCylinderInv;
+ dMatrix3Inv(m_mCylinderRot,mCylinderInv);
+
+ for(i=0; i<4; i++)
+ {
+ dVector3Subtract(avPoints[i],vCylinderCirclePos,vTemp);
+ dMultiplyMat3Vec3(mCylinderInv,vTemp,avPoints[i]);
+ }
+
+ int iTmpCounter1 = 0;
+ int iTmpCounter2 = 0;
+ dVector4 plPlane;
+
+ // plane of cylinder that contains circle for intersection
+ dConstructPlane(vCylinderCircleNormal_Rel,REAL(0.0),plPlane);
+ dClipPolyToPlane(avPoints, 4, avTempArray1, iTmpCounter1, plPlane);
+
+
+ // Body of base circle of Cylinder
+ int nCircleSegment = 0;
+ for (nCircleSegment = 0; nCircleSegment < nCYLINDER_SEGMENT; nCircleSegment++)
+ {
+ dConstructPlane(m_avCylinderNormals[nCircleSegment],m_fCylinderRadius,plPlane);
+
+ if (0 == (nCircleSegment % 2))
+ {
+ dClipPolyToPlane( avTempArray1 , iTmpCounter1 , avTempArray2, iTmpCounter2, plPlane);
+ }
+ else
+ {
+ dClipPolyToPlane( avTempArray2, iTmpCounter2, avTempArray1 , iTmpCounter1 , plPlane );
+ }
+
+ dIASSERT( iTmpCounter1 >= 0 && iTmpCounter1 <= MAX_CYLBOX_CLIP_POINTS );
+ dIASSERT( iTmpCounter2 >= 0 && iTmpCounter2 <= MAX_CYLBOX_CLIP_POINTS );
+ }
+
+ // back transform clipped points to absolute space
+ dReal ftmpdot;
+ dReal fTempDepth;
+ dVector3 vPoint;
+
+ if (nCircleSegment % 2)
+ {
+ for( i=0; i<iTmpCounter2; i++)
+ {
+ dMultiply0_331(vPoint,m_mCylinderRot,avTempArray2[i]);
+ vPoint[0] += vCylinderCirclePos[0];
+ vPoint[1] += vCylinderCirclePos[1];
+ vPoint[2] += vCylinderCirclePos[2];
+
+ dVector3Subtract(vPoint,m_vCylinderPos,vTemp);
+ ftmpdot = dVector3Dot(vTemp, m_vNormal);
+ fTempDepth = m_fBestrc - ftmpdot;
+ // Depth must be positive
+ if (fTempDepth > REAL(0.0))
+ {
+ // generate contacts
+ dContactGeom* Contact0 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
+ Contact0->depth = fTempDepth;
+ dVector3Copy(m_vNormal,Contact0->normal);
+ dVector3Copy(vPoint,Contact0->pos);
+ Contact0->g1 = m_gCylinder;
+ Contact0->g2 = m_gBox;
+ Contact0->side1 = -1;
+ Contact0->side2 = -1;
+ dVector3Inv(Contact0->normal);
+ m_nContacts++;
+
+ if (m_nContacts == (m_iFlags & NUMC_MASK))
+ {
+ break;
+ }
+ }
+ }
+ }
+ else
+ {
+ for( i=0; i<iTmpCounter1; i++)
+ {
+ dMultiply0_331(vPoint,m_mCylinderRot,avTempArray1[i]);
+ vPoint[0] += vCylinderCirclePos[0];
+ vPoint[1] += vCylinderCirclePos[1];
+ vPoint[2] += vCylinderCirclePos[2];
+
+ dVector3Subtract(vPoint,m_vCylinderPos,vTemp);
+ ftmpdot = dVector3Dot(vTemp, m_vNormal);
+ fTempDepth = m_fBestrc - ftmpdot;
+ // Depth must be positive
+ if (fTempDepth > REAL(0.0))
+ {
+ // generate contacts
+ dContactGeom* Contact0 = SAFECONTACT(m_iFlags, m_gContact, m_nContacts, m_iSkip);
+ Contact0->depth = fTempDepth;
+ dVector3Copy(m_vNormal,Contact0->normal);
+ dVector3Copy(vPoint,Contact0->pos);
+ Contact0->g1 = m_gCylinder;
+ Contact0->g2 = m_gBox;
+ Contact0->side1 = -1;
+ Contact0->side2 = -1;
+ dVector3Inv(Contact0->normal);
+ m_nContacts++;
+
+ if (m_nContacts == (m_iFlags & NUMC_MASK))
+ {
+ break;
+ }
+ }
+ }
+ }
+}
+
+int sCylinderBoxData::PerformCollisionChecking()
+{
+ // initialize collider
+ _cldInitCylinderBox();
+
+ // do intersection test and find best separating axis
+ if ( !_cldTestSeparatingAxes() )
+ {
+ // if not found do nothing
+ return 0;
+ }
+
+ // if best separation axis is not found
+ if ( m_iBestAxis == 0 )
+ {
+ // this should not happen (we should already exit in that case)
+ dIASSERT(0);
+ // do nothing
+ return 0;
+ }
+
+ dReal fdot = dVector3Dot(m_vNormal,m_vCylinderAxis);
+ // choose which clipping method are we going to apply
+ if (dFabs(fdot) < REAL(0.9) )
+ {
+ // clip cylinder over box
+ if(!_cldClipCylinderToBox())
+ {
+ return 0;
+ }
+ }
+ else
+ {
+ _cldClipBoxToCylinder();
+ }
+
+ return m_nContacts;
+}
+
+// Cylinder - Box by CroTeam
+// Ported by Nguyen Binh
+int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
+{
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (o1->type == dCylinderClass);
+ dIASSERT (o2->type == dBoxClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
+
+ sCylinderBoxData cData(o1, o2, flags, contact, skip);
+
+ return cData.PerformCollisionChecking();
+}
+
+