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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. *
+ * *
+ *************************************************************************/
+
+
+/*
+ * Cylinder-Plane collider by Christoph Beyer ( boernerb@web.de )
+ *
+ * This testing basically comes down to testing the intersection
+ * of the cylinder caps (discs) with the plane.
+ *
+ */
+
+#include <ode/collision.h>
+#include <ode/rotation.h>
+#include <ode/objects.h>
+#include "config.h"
+#include "matrix.h"
+#include "odemath.h"
+#include "collision_kernel.h" // for dxGeom
+#include "collision_util.h"
+
+
+int dCollideCylinderPlane(dxGeom *Cylinder, dxGeom *Plane, int flags, dContactGeom *contact, int skip)
+{
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (Cylinder->type == dCylinderClass);
+ dIASSERT (Plane->type == dPlaneClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
+
+ int GeomCount = 0; // count of used contactgeoms
+
+#ifdef dSINGLE
+ const dReal toleranz = REAL(0.0001);
+#endif
+#ifdef dDOUBLE
+ const dReal toleranz = REAL(0.0000001);
+#endif
+
+ // Get the properties of the cylinder (length+radius)
+ dReal radius, length;
+ dGeomCylinderGetParams(Cylinder, &radius, &length);
+ dVector3 &cylpos = Cylinder->final_posr->pos;
+ // and the plane
+ dVector4 planevec;
+ dGeomPlaneGetParams(Plane, planevec);
+ dVector3 PlaneNormal = {planevec[0],planevec[1],planevec[2]};
+ //dVector3 PlanePos = {planevec[0] * planevec[3],planevec[1] * planevec[3],planevec[2] * planevec[3]};
+
+ dVector3 G1Pos1, G1Pos2, vDir1;
+ vDir1[0] = Cylinder->final_posr->R[2];
+ vDir1[1] = Cylinder->final_posr->R[6];
+ vDir1[2] = Cylinder->final_posr->R[10];
+
+ dReal s;
+ s = length * REAL(0.5);
+ G1Pos2[0] = vDir1[0] * s + cylpos[0];
+ G1Pos2[1] = vDir1[1] * s + cylpos[1];
+ G1Pos2[2] = vDir1[2] * s + cylpos[2];
+
+ G1Pos1[0] = vDir1[0] * -s + cylpos[0];
+ G1Pos1[1] = vDir1[1] * -s + cylpos[1];
+ G1Pos1[2] = vDir1[2] * -s + cylpos[2];
+
+ dVector3 C;
+
+ // parallel-check
+ s = vDir1[0] * PlaneNormal[0] + vDir1[1] * PlaneNormal[1] + vDir1[2] * PlaneNormal[2];
+ if(s < 0)
+ s += REAL(1.0); // is ca. 0, if vDir1 and PlaneNormal are parallel
+ else
+ s -= REAL(1.0); // is ca. 0, if vDir1 and PlaneNormal are parallel
+ if(s < toleranz && s > (-toleranz))
+ {
+ // discs are parallel to the plane
+
+ // 1.compute if, and where contacts are
+ dVector3 P;
+ s = planevec[3] - dVector3Dot(planevec, G1Pos1);
+ dReal t;
+ t = planevec[3] - dVector3Dot(planevec, G1Pos2);
+ if(s >= t) // s == t does never happen,
+ {
+ if(s >= 0)
+ {
+ // 1. Disc
+ dVector3Copy(G1Pos1, P);
+ }
+ else
+ return GeomCount; // no contacts
+ }
+ else
+ {
+ if(t >= 0)
+ {
+ // 2. Disc
+ dVector3Copy(G1Pos2, P);
+ }
+ else
+ return GeomCount; // no contacts
+ }
+
+ // 2. generate a coordinate-system on the disc
+ dVector3 V1, V2;
+ if(vDir1[0] < toleranz && vDir1[0] > (-toleranz))
+ {
+ // not x-axis
+ V1[0] = vDir1[0] + REAL(1.0); // random value
+ V1[1] = vDir1[1];
+ V1[2] = vDir1[2];
+ }
+ else
+ {
+ // maybe x-axis
+ V1[0] = vDir1[0];
+ V1[1] = vDir1[1] + REAL(1.0); // random value
+ V1[2] = vDir1[2];
+ }
+ // V1 is now another direction than vDir1
+ // Cross-product
+ dVector3Cross(V1, vDir1, V2);
+ // make unit V2
+ t = dVector3Length(V2);
+ t = radius / t;
+ dVector3Scale(V2, t);
+ // cross again
+ dVector3Cross(V2, vDir1, V1);
+ // |V2| is 'radius' and vDir1 unit, so |V1| is 'radius'
+ // V1 = first axis
+ // V2 = second axis
+
+ // 3. generate contactpoints
+
+ // Potential contact 1
+ dVector3Add(P, V1, contact->pos);
+ contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
+ if(contact->depth > 0)
+ {
+ dVector3Copy(PlaneNormal, contact->normal);
+ contact->g1 = Cylinder;
+ contact->g2 = Plane;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ if( GeomCount >= (flags & NUMC_MASK))
+ return GeomCount; // enough contactgeoms
+ contact = (dContactGeom *)((char *)contact + skip);
+ }
+
+ // Potential contact 2
+ dVector3Subtract(P, V1, contact->pos);
+ contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
+ if(contact->depth > 0)
+ {
+ dVector3Copy(PlaneNormal, contact->normal);
+ contact->g1 = Cylinder;
+ contact->g2 = Plane;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ if( GeomCount >= (flags & NUMC_MASK))
+ return GeomCount; // enough contactgeoms
+ contact = (dContactGeom *)((char *)contact + skip);
+ }
+
+ // Potential contact 3
+ dVector3Add(P, V2, contact->pos);
+ contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
+ if(contact->depth > 0)
+ {
+ dVector3Copy(PlaneNormal, contact->normal);
+ contact->g1 = Cylinder;
+ contact->g2 = Plane;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ if( GeomCount >= (flags & NUMC_MASK))
+ return GeomCount; // enough contactgeoms
+ contact = (dContactGeom *)((char *)contact + skip);
+ }
+
+ // Potential contact 4
+ dVector3Subtract(P, V2, contact->pos);
+ contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
+ if(contact->depth > 0)
+ {
+ dVector3Copy(PlaneNormal, contact->normal);
+ contact->g1 = Cylinder;
+ contact->g2 = Plane;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ if( GeomCount >= (flags & NUMC_MASK))
+ return GeomCount; // enough contactgeoms
+ contact = (dContactGeom *)((char *)contact + skip);
+ }
+ }
+ else
+ {
+ dReal t = dVector3Dot(PlaneNormal, vDir1);
+ C[0] = vDir1[0] * t - PlaneNormal[0];
+ C[1] = vDir1[1] * t - PlaneNormal[1];
+ C[2] = vDir1[2] * t - PlaneNormal[2];
+ s = dVector3Length(C);
+ // move C onto the circle
+ s = radius / s;
+ dVector3Scale(C, s);
+
+ // deepest point of disc 1
+ dVector3Add(C, G1Pos1, contact->pos);
+
+ // depth of the deepest point
+ contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
+ if(contact->depth >= 0)
+ {
+ dVector3Copy(PlaneNormal, contact->normal);
+ contact->g1 = Cylinder;
+ contact->g2 = Plane;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ if( GeomCount >= (flags & NUMC_MASK))
+ return GeomCount; // enough contactgeoms
+ contact = (dContactGeom *)((char *)contact + skip);
+ }
+
+ // C is still computed
+
+ // deepest point of disc 2
+ dVector3Add(C, G1Pos2, contact->pos);
+
+ // depth of the deepest point
+ contact->depth = planevec[3] - planevec[0] * contact->pos[0] - planevec[1] * contact->pos[1] - planevec[2] * contact->pos[2];
+ if(contact->depth >= 0)
+ {
+ dVector3Copy(PlaneNormal, contact->normal);
+ contact->g1 = Cylinder;
+ contact->g2 = Plane;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ if( GeomCount >= (flags & NUMC_MASK))
+ return GeomCount; // enough contactgeoms
+ contact = (dContactGeom *)((char *)contact + skip);
+ }
+ }
+ return GeomCount;
+}
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