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Diffstat (limited to 'libs/ode-0.16.1/ode/src/collision_util.h')
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1 files changed, 358 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/collision_util.h b/libs/ode-0.16.1/ode/src/collision_util.h new file mode 100644 index 0000000..57e116a --- /dev/null +++ b/libs/ode-0.16.1/ode/src/collision_util.h @@ -0,0 +1,358 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 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. * + * * + *************************************************************************/ + +/* + +some useful collision utility stuff. + +*/ + +#ifndef _ODE_COLLISION_UTIL_H_ +#define _ODE_COLLISION_UTIL_H_ + +#include <ode/common.h> +#include <ode/contact.h> +#include <ode/rotation.h> +#include "odemath.h" + + +// given a pointer `p' to a dContactGeom, return the dContactGeom at +// p + skip bytes. +#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) + +#if 1 +#include "collision_kernel.h" +// Fetches a contact +static inline +dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){ + dIASSERT(Index >= 0 && Index < (Flags & NUMC_MASK)); + return ((dContactGeom*)(((char*)Contacts) + (Index * Stride))); +} +#endif + + +// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and +// return 1, else return 0. + +int dCollideSpheres (dVector3 p1, dReal r1, + dVector3 p2, dReal r2, dContactGeom *c); + + +// given two lines +// qa = pa + alpha* ua +// qb = pb + beta * ub +// where pa,pb are two points, ua,ub are two unit length vectors, and alpha, +// beta go from [-inf,inf], return alpha and beta such that qa and qb are +// as close as possible + +void dLineClosestApproach (const dVector3 pa, const dVector3 ua, + const dVector3 pb, const dVector3 ub, + dReal *alpha, dReal *beta); + + +// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length +// vector 'side'), compute the points of closest approach between the box +// and the line. return these points in 'lret' (the point on the line) and +// 'bret' (the point on the box). if the line actually penetrates the box +// then the solution is not unique, but only one solution will be returned. +// in this case the solution points will coincide. + +void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2, + const dVector3 c, const dMatrix3 R, + const dVector3 side, + dVector3 lret, dVector3 bret); + +// 20 Apr 2004 +// Start code by Nguyen Binh +int dClipEdgeToPlane(dVector3 &vEpnt0, dVector3 &vEpnt1, const dVector4& plPlane); +// clip polygon with plane and generate new polygon points +void dClipPolyToPlane(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane ); + +void dClipPolyToCircle(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane ,dReal fRadius); + +// Some vector math +static inline +void dVector3Subtract(const dVector3& a,const dVector3& b,dVector3& c) +{ + dSubtractVectors3(c, a, b); +} + +static inline +void dVector3Scale(dVector3& a,dReal nScale) +{ + dScaleVector3(a, nScale); +} + +static inline +void dVector3Add(const dVector3& a,const dVector3& b,dVector3& c) +{ + dAddVectors3(c, a, b); +} + +static inline +void dVector3Copy(const dVector3& a,dVector3& c) +{ + dCopyVector3(c, a); +} + +static inline +void dVector4Copy(const dVector4& a,dVector4& c) +{ + dCopyVector4(c, a); +} + +static inline +void dVector3Cross(const dVector3& a,const dVector3& b,dVector3& c) +{ + dCalcVectorCross3(c, a, b); +} + +static inline +dReal dVector3Length(const dVector3& a) +{ + return dCalcVectorLength3(a); +} + +static inline +dReal dVector3LengthSquare(const dVector3& a) +{ + return dCalcVectorLengthSquare3(a); +} + +static inline +dReal dVector3Dot(const dVector3& a,const dVector3& b) +{ + return dCalcVectorDot3(a, b); +} + +static inline +void dVector3Inv(dVector3& a) +{ + dNegateVector3(a); +} + +static inline +void dMat3GetCol(const dMatrix3& m,const int col, dVector3& v) +{ + dGetMatrixColumn3(v, m, col); +} + +static inline +void dVector3CrossMat3Col(const dMatrix3& m,const int col,const dVector3& v,dVector3& r) +{ + dCalcVectorCross3_114(r, v, m + col); +} + +static inline +void dMat3ColCrossVector3(const dMatrix3& m,const int col,const dVector3& v,dVector3& r) +{ + dCalcVectorCross3_141(r, m + col, v); +} + +static inline +void dMultiplyMat3Vec3(const dMatrix3& m,const dVector3& v, dVector3& r) +{ + dMultiply0_331(r, m, v); +} + +static inline +dReal dPointPlaneDistance(const dVector3& point,const dVector4& plane) +{ + return (plane[0]*point[0] + plane[1]*point[1] + plane[2]*point[2] + plane[3]); +} + +static inline +void dConstructPlane(const dVector3& normal,const dReal& distance, dVector4& plane) +{ + plane[0] = normal[0]; + plane[1] = normal[1]; + plane[2] = normal[2]; + plane[3] = distance; +} + +static inline +void dMatrix3Copy(const dReal* source,dMatrix3& dest) +{ + dCopyMatrix4x3(dest, source); +} + +static inline +dReal dMatrix3Det( const dMatrix3& mat ) +{ + dReal det; + + det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] ) + - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] ) + + mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] ); + + return( det ); +} + + +static inline +void dMatrix3Inv( const dMatrix3& ma, dMatrix3& dst ) +{ + dReal det = dMatrix3Det( ma ); + + if ( dFabs( det ) < REAL(0.0005) ) + { + dRSetIdentity( dst ); + return; + } + + double detRecip = REAL(1.0) / det; + + dst[0] = (dReal)(( ma[5]*ma[10] - ma[6]*ma[9] ) * detRecip); + dst[1] = (dReal)(( ma[9]*ma[2] - ma[1]*ma[10] ) * detRecip); + dst[2] = (dReal)(( ma[1]*ma[6] - ma[5]*ma[2] ) * detRecip); + + dst[4] = (dReal)(( ma[6]*ma[8] - ma[4]*ma[10] ) * detRecip); + dst[5] = (dReal)(( ma[0]*ma[10] - ma[8]*ma[2] ) * detRecip); + dst[6] = (dReal)(( ma[4]*ma[2] - ma[0]*ma[6] ) * detRecip); + + dst[8] = (dReal)(( ma[4]*ma[9] - ma[8]*ma[5] ) * detRecip); + dst[9] = (dReal)(( ma[8]*ma[1] - ma[0]*ma[9] ) * detRecip); + dst[10] = (dReal)(( ma[0]*ma[5] - ma[1]*ma[4] ) * detRecip); +} + +static inline +void dQuatTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest) +{ + + // Nguyen Binh : this code seem to be the fastest. + dReal x0 = source[0] * quat[0] + source[2] * quat[2] - source[1] * quat[3]; + dReal x1 = source[1] * quat[0] + source[0] * quat[3] - source[2] * quat[1]; + dReal x2 = source[2] * quat[0] + source[1] * quat[1] - source[0] * quat[2]; + dReal x3 = source[0] * quat[1] + source[1] * quat[2] + source[2] * quat[3]; + + dest[0] = quat[0] * x0 + quat[1] * x3 + quat[2] * x2 - quat[3] * x1; + dest[1] = quat[0] * x1 + quat[2] * x3 + quat[3] * x0 - quat[1] * x2; + dest[2] = quat[0] * x2 + quat[3] * x3 + quat[1] * x1 - quat[2] * x0; + + /* + // nVidia SDK implementation + dVector3 uv, uuv; + dVector3 qvec; + qvec[0] = quat[1]; + qvec[1] = quat[2]; + qvec[2] = quat[3]; + + dVector3Cross(qvec,source,uv); + dVector3Cross(qvec,uv,uuv); + + dVector3Scale(uv,REAL(2.0)*quat[0]); + dVector3Scale(uuv,REAL(2.0)); + + dest[0] = source[0] + uv[0] + uuv[0]; + dest[1] = source[1] + uv[1] + uuv[1]; + dest[2] = source[2] + uv[2] + uuv[2]; + */ +} + +static inline +void dQuatInvTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest) +{ + + dReal norm = quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3]; + + if (norm > REAL(0.0)) + { + dQuaternion invQuat; + invQuat[0] = quat[0] / norm; + invQuat[1] = -quat[1] / norm; + invQuat[2] = -quat[2] / norm; + invQuat[3] = -quat[3] / norm; + + dQuatTransform(invQuat,source,dest); + + } + else + { + // Singular -> return identity + dVector3Copy(source,dest); + } +} + +static inline +void dGetEulerAngleFromRot(const dMatrix3& mRot,dReal& rX,dReal& rY,dReal& rZ) +{ + rY = asin(mRot[0 * 4 + 2]); + if (rY < M_PI /2) + { + if (rY > -M_PI /2) + { + rX = atan2(-mRot[1*4 + 2], mRot[2*4 + 2]); + rZ = atan2(-mRot[0*4 + 1], mRot[0*4 + 0]); + } + else + { + // not unique + rX = -atan2(mRot[1*4 + 0], mRot[1*4 + 1]); + rZ = REAL(0.0); + } + } + else + { + // not unique + rX = atan2(mRot[1*4 + 0], mRot[1*4 + 1]); + rZ = REAL(0.0); + } +} + +static inline +void dQuatInv(const dQuaternion& source, dQuaternion& dest) +{ + dReal norm = source[0]*source[0] + source[1]*source[1] + source[2]*source[2] + source[3]*source[3]; + + if (norm > 0.0f) + { + dReal neg_norm_recip = -REAL(1.0) / norm; + dest[0] = -source[0] * neg_norm_recip; + dest[1] = source[1] * neg_norm_recip; + dest[2] = source[2] * neg_norm_recip; + dest[3] = source[3] * neg_norm_recip; + } + else + { + // Singular -> return identity + dest[0] = REAL(1.0); + dest[1] = REAL(0.0); + dest[2] = REAL(0.0); + dest[3] = REAL(0.0); + } +} + +// Finds barycentric +static inline +void GetPointFromBarycentric(const dVector3 dv[3], dReal u, dReal v, dVector3 Out){ + dReal w = REAL(1.0) - u - v; + + Out[0] = (dv[0][0] * w) + (dv[1][0] * u) + (dv[2][0] * v); + Out[1] = (dv[0][1] * w) + (dv[1][1] * u) + (dv[2][1] * v); + Out[2] = (dv[0][2] * w) + (dv[1][2] * u) + (dv[2][2] * v); + Out[3] = (dv[0][3] * w) + (dv[1][3] * u) + (dv[2][3] * v); +} + + + + +#endif |