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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-sphere collider by Christoph Beyer (boernerb@web.de) *
+ * *
+ * In Cylinder/Sphere-collisions, there are three possibilies: *
+ * 1. collision with the cylinder's nappe *
+ * 2. collision with one of the cylinder's disc *
+ * 3. collision with one of the disc's border *
+ * *
+ * This collider computes two distances (s, t) and based on them, *
+ * it decides, which collision we have. *
+ * This collider always generates 1 (or 0, if we have no collison) *
+ * contacts. *
+ * It is able to "separate" cylinder and sphere in all *
+ * configurations, but it never pays attention to velocity. *
+ * So, in extrem situations, "tunneling-effect" is possible. *
+ * *
+ *******************************************************************/
+
+#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 dCollideCylinderSphere(dxGeom* Cylinder, dxGeom* Sphere,
+ int flags, dContactGeom *contact, int skip)
+{
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (Cylinder->type == dCylinderClass);
+ dIASSERT (Sphere->type == dSphereClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
+
+ //unsigned char* pContactData = (unsigned char*)contact;
+ int GeomCount = 0; // count of used contacts
+
+#ifdef dSINGLE
+ const dReal toleranz = REAL(0.0001);
+#endif
+#ifdef dDOUBLE
+ const dReal toleranz = REAL(0.0000001);
+#endif
+
+ // get the data from the geoms
+ dReal radius, length;
+ dGeomCylinderGetParams(Cylinder, &radius, &length);
+ dVector3 &cylpos = Cylinder->final_posr->pos;
+ //const dReal* pfRot1 = dGeomGetRotation(Cylinder);
+
+ dReal radius2;
+ radius2 = dGeomSphereGetRadius(Sphere);
+ const dReal* SpherePos = dGeomGetPosition(Sphere);
+
+ // G1Pos1 is the middle of the first disc
+ // G1Pos2 is the middle of the second disc
+ // vDir1 is the unit direction of the cylinderaxis
+ 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); // just a precomputed factor
+ 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;
+ dReal t;
+ // Step 1: compute the two distances 's' and 't'
+ // 's' is the distance from the first disc (in vDir1-/Zylinderaxis-direction), the disc with G1Pos1 in the middle
+ s = (SpherePos[0] - G1Pos1[0]) * vDir1[0] - (G1Pos1[1] - SpherePos[1]) * vDir1[1] - (G1Pos1[2] - SpherePos[2]) * vDir1[2];
+ if(s < (-radius2) || s > (length + radius2) )
+ {
+ // Sphere is too far away from the discs
+ // no collision
+ return 0;
+ }
+
+ // C is the direction from Sphere-middle to the cylinder-axis (vDir1); C is orthogonal to the cylinder-axis
+ C[0] = s * vDir1[0] + G1Pos1[0] - SpherePos[0];
+ C[1] = s * vDir1[1] + G1Pos1[1] - SpherePos[1];
+ C[2] = s * vDir1[2] + G1Pos1[2] - SpherePos[2];
+ // t is the distance from the Sphere-middle to the cylinder-axis!
+ t = dVector3Length(C);
+ if(t > (radius + radius2) )
+ {
+ // Sphere is too far away from the cylinder axis!
+ // no collision
+ return 0;
+ }
+
+ // decide which kind of collision we have:
+ if(t > radius && (s < 0 || s > length) )
+ {
+ // 3. collision
+ if(s <= 0)
+ {
+ contact->depth = radius2 - dSqrt( (s) * (s) + (t - radius) * (t - radius) );
+ if(contact->depth < 0)
+ {
+ // no collision!
+ return 0;
+ }
+ contact->pos[0] = C[0] / t * -radius + G1Pos1[0];
+ contact->pos[1] = C[1] / t * -radius + G1Pos1[1];
+ contact->pos[2] = C[2] / t * -radius + G1Pos1[2];
+ contact->normal[0] = (contact->pos[0] - SpherePos[0]) / (radius2 - contact->depth);
+ contact->normal[1] = (contact->pos[1] - SpherePos[1]) / (radius2 - contact->depth);
+ contact->normal[2] = (contact->pos[2] - SpherePos[2]) / (radius2 - contact->depth);
+ contact->g1 = Cylinder;
+ contact->g2 = Sphere;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ return GeomCount;
+ }
+ else
+ {
+ // now s is bigger than length here!
+ contact->depth = radius2 - dSqrt( (s - length) * (s - length) + (t - radius) * (t - radius) );
+ if(contact->depth < 0)
+ {
+ // no collision!
+ return 0;
+ }
+ contact->pos[0] = C[0] / t * -radius + G1Pos2[0];
+ contact->pos[1] = C[1] / t * -radius + G1Pos2[1];
+ contact->pos[2] = C[2] / t * -radius + G1Pos2[2];
+ contact->normal[0] = (contact->pos[0] - SpherePos[0]) / (radius2 - contact->depth);
+ contact->normal[1] = (contact->pos[1] - SpherePos[1]) / (radius2 - contact->depth);
+ contact->normal[2] = (contact->pos[2] - SpherePos[2]) / (radius2 - contact->depth);
+ contact->g1 = Cylinder;
+ contact->g2 = Sphere;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ return GeomCount;
+ }
+ }
+ else if( (radius - t) <= s && (radius - t) <= (length - s) )
+ {
+ // 1. collsision
+ if(t > (radius2 + toleranz))
+ {
+ // cylinder-axis is outside the sphere
+ contact->depth = (radius2 + radius) - t;
+ if(contact->depth < 0)
+ {
+ // should never happen, but just for safeness
+ return 0;
+ }
+ else
+ {
+ C[0] /= t;
+ C[1] /= t;
+ C[2] /= t;
+ contact->pos[0] = C[0] * radius2 + SpherePos[0];
+ contact->pos[1] = C[1] * radius2 + SpherePos[1];
+ contact->pos[2] = C[2] * radius2 + SpherePos[2];
+ contact->normal[0] = C[0];
+ contact->normal[1] = C[1];
+ contact->normal[2] = C[2];
+ contact->g1 = Cylinder;
+ contact->g2 = Sphere;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ return GeomCount;
+ }
+ }
+ else
+ {
+ // cylinder-axis is outside of the sphere
+ contact->depth = (radius2 + radius) - t;
+ if(contact->depth < 0)
+ {
+ // should never happen, but just for safeness
+ return 0;
+ }
+ else
+ {
+ contact->pos[0] = C[0] + SpherePos[0];
+ contact->pos[1] = C[1] + SpherePos[1];
+ contact->pos[2] = C[2] + SpherePos[2];
+ contact->normal[0] = C[0] / t;
+ contact->normal[1] = C[1] / t;
+ contact->normal[2] = C[2] / t;
+ contact->g1 = Cylinder;
+ contact->g2 = Sphere;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ return GeomCount;
+ }
+ }
+ }
+ else
+ {
+ // 2. collision
+ if(s <= (length * REAL(0.5)) )
+ {
+ // collsision with the first disc
+ contact->depth = s + radius2;
+ if(contact->depth < 0)
+ {
+ // should never happen, but just for safeness
+ return 0;
+ }
+ contact->pos[0] = radius2 * vDir1[0] + SpherePos[0];
+ contact->pos[1] = radius2 * vDir1[1] + SpherePos[1];
+ contact->pos[2] = radius2 * vDir1[2] + SpherePos[2];
+ contact->normal[0] = vDir1[0];
+ contact->normal[1] = vDir1[1];
+ contact->normal[2] = vDir1[2];
+ contact->g1 = Cylinder;
+ contact->g2 = Sphere;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ return GeomCount;
+ }
+ else
+ {
+ // collsision with the second disc
+ contact->depth = (radius2 + length - s);
+ if(contact->depth < 0)
+ {
+ // should never happen, but just for safeness
+ return 0;
+ }
+ contact->pos[0] = radius2 * -vDir1[0] + SpherePos[0];
+ contact->pos[1] = radius2 * -vDir1[1] + SpherePos[1];
+ contact->pos[2] = radius2 * -vDir1[2] + SpherePos[2];
+ contact->normal[0] = -vDir1[0];
+ contact->normal[1] = -vDir1[1];
+ contact->normal[2] = -vDir1[2];
+ contact->g1 = Cylinder;
+ contact->g2 = Sphere;
+ contact->side1 = -1;
+ contact->side2 = -1;
+ GeomCount++;
+ return GeomCount;
+ }
+ }
+ return GeomCount;
+}
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