From c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 Mon Sep 17 00:00:00 2001 From: sanine Date: Sat, 1 Oct 2022 20:59:36 -0500 Subject: add ode --- libs/ode-0.16.1/GIMPACT/src/Makefile.am | 19 + libs/ode-0.16.1/GIMPACT/src/Makefile.in | 638 +++++++++++++++ libs/ode-0.16.1/GIMPACT/src/gim_boxpruning.cpp | 519 ++++++++++++ libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp | 132 ++++ libs/ode-0.16.1/GIMPACT/src/gim_math.cpp | 60 ++ libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp | 878 +++++++++++++++++++++ .../ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp | 251 ++++++ libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp | 391 +++++++++ .../GIMPACT/src/gim_trimesh_capsule_collision.cpp | 285 +++++++ .../GIMPACT/src/gim_trimesh_ray_collision.cpp | 149 ++++ .../GIMPACT/src/gim_trimesh_sphere_collision.cpp | 196 +++++ .../GIMPACT/src/gim_trimesh_trimesh_collision.cpp | 348 ++++++++ libs/ode-0.16.1/GIMPACT/src/gimpact.cpp | 40 + 13 files changed, 3906 insertions(+) create mode 100644 libs/ode-0.16.1/GIMPACT/src/Makefile.am create mode 100644 libs/ode-0.16.1/GIMPACT/src/Makefile.in create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_boxpruning.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_math.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp create mode 100644 libs/ode-0.16.1/GIMPACT/src/gimpact.cpp (limited to 'libs/ode-0.16.1/GIMPACT/src') diff --git a/libs/ode-0.16.1/GIMPACT/src/Makefile.am b/libs/ode-0.16.1/GIMPACT/src/Makefile.am new file mode 100644 index 0000000..2cd230b --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/Makefile.am @@ -0,0 +1,19 @@ +noinst_LTLIBRARIES = libGIMPACT.la +AM_CPPFLAGS = -fno-strict-aliasing \ + -I$(top_srcdir)/include \ + -I$(top_builddir)/include \ + -I$(top_srcdir)/ode/src \ + -I$(top_srcdir)/GIMPACT/include + +libGIMPACT_la_SOURCES = gim_boxpruning.cpp \ + gim_contact.cpp \ + gim_math.cpp \ + gim_memory.cpp \ + gim_tri_tri_overlap.cpp \ + gim_trimesh.cpp \ + gim_trimesh_capsule_collision.cpp \ + gim_trimesh_ray_collision.cpp \ + gim_trimesh_sphere_collision.cpp \ + gim_trimesh_trimesh_collision.cpp \ + gimpact.cpp + diff --git a/libs/ode-0.16.1/GIMPACT/src/Makefile.in b/libs/ode-0.16.1/GIMPACT/src/Makefile.in new file mode 100644 index 0000000..70ab49e --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/Makefile.in @@ -0,0 +1,638 @@ +# Makefile.in generated by automake 1.15 from Makefile.am. +# @configure_input@ + +# Copyright (C) 1994-2014 Free Software Foundation, Inc. + +# This Makefile.in is free software; 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C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "GIMPACT/gim_boxpruning.h" + + + +//! Allocate memory for all aabb set. +void gim_aabbset_alloc(GIM_AABB_SET * aabbset, GUINT32 count) +{ + aabbset->m_count = count; + aabbset->m_boxes = (aabb3f *)gim_alloc(sizeof(aabb3f)*count); + + if(countm_maxcoords = 0; + aabbset->m_sorted_mincoords = 0; + } + else + { + aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count ); + aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count); + } + aabbset->m_shared = 0; + INVALIDATE_AABB(aabbset->m_global_bound); +} + +//! Destroys the aabb set. +void gim_aabbset_destroy(GIM_AABB_SET * aabbset) +{ + aabbset->m_count = 0; + if(aabbset->m_shared==0) + { + gim_free(aabbset->m_boxes,0); + gim_free(aabbset->m_maxcoords,0); + gim_free(aabbset->m_sorted_mincoords,0); + } + aabbset->m_boxes = 0; + aabbset->m_sorted_mincoords = 0; + aabbset->m_maxcoords = 0; +} + +void gim_aabbset_calc_global_bound(GIM_AABB_SET * aabbset) +{ + aabb3f * paabb = aabbset->m_boxes; + aabb3f * globalbox = &aabbset->m_global_bound; + AABB_COPY((*globalbox),(*paabb)); + + GUINT32 count = aabbset->m_count-1; + paabb++; + while(count) + { + MERGEBOXES(*globalbox,*paabb) + paabb++; + count--; + } +} + + +//! Sorts the boxes for box prunning. +/*! +1) find the integer representation of the aabb coords +2) Sorts the min coords +3) Calcs the global bound +\pre aabbset must be allocated. And the boxes must be already set. +\param aabbset +\param calc_global_bound If 1 , calcs the global bound +\post If aabbset->m_sorted_mincoords == 0, then it allocs the sorted coordinates +*/ +void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound) +{ + if(aabbset->m_sorted_mincoords == 0) + {//allocate + aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count ); + aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count); + } + + GUINT32 i, count = aabbset->m_count; + aabb3f * paabb = aabbset->m_boxes; + GUINT32 * maxcoords = aabbset->m_maxcoords; + GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords; + + if(count<860)//Calibrated on a Pentium IV + { + //Sort by quick sort + //Calculate keys + for(i=0;im_index1 = i;\ + _pair->m_index2 = j;\ +} + +#define PUSH_PAIR_INV(i,j,pairset)\ +{\ + GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\ + GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\ + _pair->m_index1 = j;\ + _pair->m_index2 = i;\ +} + +#define FIND_OVERLAPPING_FOWARD(\ + curr_index,\ + test_count,\ + test_aabb,\ + max_coord_uint,\ + sorted_tokens,\ + aabbarray,\ + pairset,\ + push_pair_macro)\ +{\ + GUINT32 _i = test_count;\ + char _intersected;\ + GIM_RSORT_TOKEN * _psorted_tokens = sorted_tokens;\ + while(_i>0 && max_coord_uint >= _psorted_tokens->m_key)\ + {\ + AABBCOLLISION(_intersected,test_aabb,aabbarray[_psorted_tokens->m_value]);\ + if(_intersected)\ + {\ + push_pair_macro(curr_index, _psorted_tokens->m_value,pairset);\ + }\ + _psorted_tokens++;\ + _i--;\ + }\ +} + +//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. +/*! +\pre aabbset must be allocated and sorted, the boxes must be already set. +\param aabbset Must be sorted. Global bound isn't required +\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) +*/ +void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs) +{ + collision_pairs->m_size = 0; + GUINT32 count = aabbset->m_count; + aabb3f * paabb = aabbset->m_boxes; + GUINT32 * maxcoords = aabbset->m_maxcoords; + GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords; + aabb3f test_aabb; + while(count>1) + { + ///current cache variables + GUINT32 curr_index = sorted_tokens->m_value; + GUINT32 max_coord_uint = maxcoords[curr_index]; + AABB_COPY(test_aabb,paabb[curr_index]); + + ///next pairs + sorted_tokens++; + count--; + FIND_OVERLAPPING_FOWARD( curr_index, count, test_aabb, max_coord_uint, sorted_tokens , paabb, (*collision_pairs),PUSH_PAIR); + } +} + +//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. +/*! +\pre aabbset must be allocated, the boxes must be already set. +\param aabbset Global bound isn't required. Doen't need to be sorted. +\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) +*/ +void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs) +{ + collision_pairs->m_size = 0; + GUINT32 i,j; + GUINT32 count = aabbset->m_count; + aabb3f * paabb = aabbset->m_boxes; + char intersected; + for (i=0;i< count-1 ;i++ ) + { + for (j=i+1;jm_size = 0; + + AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound); + if(intersected == 0) return; + + GUINT32 count1 = aabbset1->m_count; + aabb3f * paabb1 = aabbset1->m_boxes; + GUINT32 * maxcoords1 = aabbset1->m_maxcoords; + GIM_RSORT_TOKEN * sorted_tokens1 = aabbset1->m_sorted_mincoords; + + GUINT32 count2 = aabbset2->m_count; + aabb3f * paabb2 = aabbset2->m_boxes; + GUINT32 * maxcoords2 = aabbset2->m_maxcoords; + GIM_RSORT_TOKEN * sorted_tokens2 = aabbset2->m_sorted_mincoords; + + GUINT32 curr_index; + + GUINT32 max_coord_uint; + aabb3f test_aabb; + + //Classify boxes + //Find Set intersection + aabb3f int_abbb; + BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb); + + //Clasify set 1 + GIM_RSORT_TOKEN * classified_tokens1 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count1); + GUINT32 i,classified_count1 = 0,classified_count2 = 0; + + + for (i=0;i0&&classified_count2>0) + { + if(sorted_tokens1->m_key <= sorted_tokens2->m_key) + { + ///current cache variables + curr_index = sorted_tokens1->m_value; + max_coord_uint = maxcoords1[curr_index]; + AABB_COPY(test_aabb,paabb1[curr_index]); + ///next pairs + sorted_tokens1++; + classified_count1--; + FIND_OVERLAPPING_FOWARD( curr_index, classified_count2, test_aabb, max_coord_uint, sorted_tokens2 , paabb2, (*collision_pairs), PUSH_PAIR); + } + else ///Switch test + { + ///current cache variables + curr_index = sorted_tokens2->m_value; + max_coord_uint = maxcoords2[curr_index]; + AABB_COPY(test_aabb,paabb2[curr_index]); + ///next pairs + sorted_tokens2++; + classified_count2--; + FIND_OVERLAPPING_FOWARD( curr_index, classified_count1, test_aabb, max_coord_uint, sorted_tokens1 , paabb1, (*collision_pairs), PUSH_PAIR_INV ); + } + } + gim_free(classified_tokens1 ,0); + gim_free(classified_tokens2 ,0); +} + +//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. +/*! +\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set. +\param aabbset1 Must be sorted, Global bound is required. +\param aabbset2 Must be sorted, Global bound is required. +\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) +*/ +void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs) +{ + char intersected; + collision_pairs->m_size = 0; + AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound); + if(intersected == 0) return; + + aabb3f int_abbb; + //Find Set intersection + BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb); + //Clasify set 1 + GUINT32 i,j; + GUINT32 classified_count = 0; + + GUINT32 count = aabbset1->m_count; + aabb3f * paabb1 = aabbset1->m_boxes; + aabb3f * paabb2 = aabbset2->m_boxes; + + GUINT32 * classified = (GUINT32 *) gim_alloc(sizeof(GUINT32)*count); + + for (i=0;im_count; + for (i=0;im_count < GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES) + {//Brute force approach + gim_aabbset_calc_global_bound(aabbset); + } + else + {//Sorted force approach + gim_aabbset_sort(aabbset,1); + } +} + +//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. +/*! +This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted. + +\param aabbset Set of boxes. Sorting isn't required. +\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) +\pre aabbset must be allocated and initialized. +\post If aabbset->m_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted. +*/ +void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs) +{ + if(aabbset->m_count < GIM_MIN_SORTED_PRUNING_BOXES) + {//Brute force approach + gim_aabbset_self_intersections_brute_force(aabbset,collision_pairs); + } + else + {//Sorted force approach + gim_aabbset_sort(aabbset,0); + gim_aabbset_self_intersections_sorted(aabbset,collision_pairs); + } +} + +//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. +/*! +\pre aabbset1 and aabbset2 must be allocated and updated. See . +\param aabbset1 Must be sorted, Global bound is required. +\param aabbset2 Must be sorted, Global bound is required. +\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) +*/ +void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs) +{ + if(aabbset1->m_sorted_mincoords == 0||aabbset2->m_sorted_mincoords == 0) + {//Brute force approach + gim_aabbset_bipartite_intersections_brute_force(aabbset1,aabbset2,collision_pairs); + } + else + {//Sorted force approach + gim_aabbset_bipartite_intersections_sorted(aabbset1,aabbset2,collision_pairs); + } +} + +void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided) +{ + collided->m_size = 0; + char intersected; + AABBCOLLISION(intersected,aabbset->m_global_bound,(*test_aabb)); + if(intersected == 0) return; + + GUINT32 i; + GUINT32 count = aabbset->m_count; + aabb3f * paabb = aabbset->m_boxes; + aabb3f _testaabb; + AABB_COPY(_testaabb,*test_aabb); + + for (i=0;i< count;i++ ) + { + AABBCOLLISION(intersected,paabb[i],_testaabb); + if(intersected) + { + GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i); + } + } +} + +void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided) +{ + collided->m_size = 0; + char intersected; + GREAL tparam = 0; + BOX_INTERSECTS_RAY(aabbset->m_global_bound, vorigin, vdir, tparam, tmax,intersected); + if(intersected==0) return; + + GUINT32 i; + GUINT32 count = aabbset->m_count; + aabb3f * paabb = aabbset->m_boxes; + + for (i=0;i< count;i++ ) + { + BOX_INTERSECTS_RAY(paabb[i], vorigin, vdir, tparam, tmax,intersected); + if(intersected) + { + GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i); + } + } + (void)tparam; +} diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp new file mode 100644 index 0000000..4b61298 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp @@ -0,0 +1,132 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "GIMPACT/gim_contact.h" + +void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts, + GDYNAMIC_ARRAY * dest_contacts) +{ + dest_contacts->m_size = 0; + + GUINT32 source_count = source_contacts->m_size; + GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts)); + //create keys + GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count); + + GUINT32 i; + for(i=0;im_size;i++) + { + key = keycontacts[i].m_key; + scontact = &psource_contacts[keycontacts[i].m_value]; + + if(i>0 && last_key == key) + { + //merge contact + if(pcontact->m_depth > scontact->m_depth + CONTACT_DIFF_EPSILON) + { + GIM_COPY_CONTACTS(pcontact, scontact); + } + } + else + {//add new contact + GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts)); + pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts)); + GIM_COPY_CONTACTS(pcontact, scontact); + } + last_key = key; + } + gim_free(keycontacts,0); +} + +void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts, + GDYNAMIC_ARRAY * dest_contacts) +{ + dest_contacts->m_size = 0; + //Traverse the source contacts + GUINT32 source_count = source_contacts->m_size; + if(source_count==0) return; + + GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts)); + + //add the unique contact + GIM_CONTACT * pcontact = 0; + GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts)); + pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts)); + //set the first contact + GIM_COPY_CONTACTS(pcontact, psource_contacts); + + if(source_count==1) return; + //scale the first contact + VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal); + + psource_contacts++; + + //Average the contacts + GUINT32 i; + for(i=1;im_point,pcontact->m_point,psource_contacts->m_point); + VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal); + psource_contacts++; + } + + GREAL divide_average = 1.0f/((GREAL)source_count); + + VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point); + + pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average; + GIM_SQRT(pcontact->m_depth,pcontact->m_depth); + + VEC_NORMALIZE(pcontact->m_normal); + + /*GREAL normal_len; + VEC_INV_LENGTH(pcontact->m_normal,normal_len); + VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal); + + //Deep = LEN(normal)/SQRT(source_count) + GIM_SQRT(divide_average,divide_average); + pcontact->m_depth = divide_average/normal_len; + */ +} + + + diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp new file mode 100644 index 0000000..18efb2c --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp @@ -0,0 +1,60 @@ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "GIMPACT/gim_math.h" +#include "stdlib.h" +#include "time.h" + + +GREAL gim_inv_sqrt(GREAL f) +{ + GREAL r; + GIM_INV_SQRT(f,r); + return r; +} + +GREAL gim_sqrt(GREAL f) +{ + GREAL r; + GIM_SQRT(f,r); + return r; +} + +//!Initializes mathematical functions +void gim_init_math() +{ + srand( static_cast< unsigned int >( time( 0 ) ) ); +} + +//! Generates an unit random +GREAL gim_unit_random() +{ + GREAL rn = static_cast< GREAL >( rand() ); + rn/=(GREAL)RAND_MAX; + return rn; +} diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp new file mode 100644 index 0000000..cc5188d --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp @@ -0,0 +1,878 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include +#include +#include "GIMPACT/gim_memory.h" +#include +#include "config.h" +//#include "malloc.h" +//#include "mm_malloc.h" + +static gim_alloc_function *g_allocfn = 0; +// static gim_alloca_function *g_allocafn = 0; -- a nonsense +static gim_realloc_function *g_reallocfn = 0; +static gim_free_function *g_freefn = 0; + + +#define VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)\ + if(buffer_manager_id>=G_BUFFER_MANAGER__MAX) return G_BUFFER_OP_INVALID;\ + GBUFFER_MANAGER_DATA * bm_data;\ + gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);\ + if(bm_data == 0) return G_BUFFER_OP_INVALID;\ + +#define VALIDATE_BUFFER_ID_PT(buffer_id)\ + GBUFFER_MANAGER_DATA * bm_data = buffer_id->m_bm_data;\ + if(bm_data == 0) return G_BUFFER_OP_INVALID;\ + if(buffer_id->m_buffer_id>=bm_data->m_buffer_array.m_size) return G_BUFFER_OP_INVALID;\ + GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);\ + pbuffer += buffer_id->m_buffer_id;\ + if(pbuffer->m_buffer_handle==0) return G_BUFFER_OP_INVALID;\ + + +void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data) +{ + gim_buffer_array_unlock(&array_data); + gim_buffer_free(&(array_data).m_buffer_id); +} + +void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data) +{ + if(array_data.m_pdata != 0) + { + gim_free(array_data.m_pdata,0); + array_data.m_reserve_size = 0; + array_data.m_size = 0; + array_data.m_pdata = 0; + } +} + +void gim_set_alloc_handler (gim_alloc_function *fn) +{ + g_allocfn = fn; +} + +/* -- a nonsense +void gim_set_alloca_handler (gim_alloca_function *fn) +{ + g_allocafn = fn; +} +*/ + +void gim_set_realloc_handler (gim_realloc_function *fn) +{ + g_reallocfn = fn; +} + +void gim_set_free_handler (gim_free_function *fn) +{ + g_freefn = fn; +} + +gim_alloc_function *gim_get_alloc_handler() +{ + return g_allocfn; +} + +/* -- a nonsense +gim_alloca_function *gim_get_alloca_handler() +{ + return g_allocafn; +} +*/ + +gim_realloc_function *gim_get_realloc_handler () +{ + return g_reallocfn; +} + + +gim_free_function *gim_get_free_handler () +{ + return g_freefn; +} + + +void * gim_alloc(size_t size) +{ + void * ptr; +/* + if (g_allocfn) + { + ptr = g_allocfn(size); + } + else +*/ + { + ptr = malloc(size);//_mm_malloc(size,0);*/ + } + assert(ptr); + return ptr; +} + +/* -- a nonsense +void * gim_alloca(size_t size) +{ + if (g_allocafn) return g_allocafn(size); else return alloca(size); +} +*/ + +void * gim_realloc(void *ptr, size_t oldsize, size_t newsize) +{ + /*if (g_reallocfn) return g_reallocfn(ptr,oldsize,newsize); + else return realloc(ptr,newsize);*/ + //return realloc(ptr,newsize); + void * newptr = gim_alloc(newsize); + size_t copysize = newsize> oldsize? oldsize: newsize; + memcpy(newptr,ptr,copysize); + gim_free(ptr,oldsize); + return newptr; +} + +void gim_free(void *ptr, size_t size) +{ + if (!ptr) return; +/* -- if custom allocation function is not used, custom free must not be used too + if (g_freefn) + { + g_freefn(ptr,size); + } + else +*/ + { + free(ptr);//_mm_free(ptr); + } +} + +///******************************* BUFFER MANAGERS ******************************/// + +//!** Basic buffer prototype functions + +static GPTR _system_buffer_alloc_function(GUINT32 size,int usage) +{ + void * newdata = gim_alloc(size); + memset(newdata,0,size); + return (GPTR)newdata; +} + +static GPTR _system_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage) +{ + void * newdata = gim_alloc(size); + memcpy(newdata,pdata,size); + return (GPTR)(newdata); +} + +static GPTR _system_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage) +{ + void * newdata = gim_realloc(buffer_handle,oldsize,newsize); + return (GPTR)(newdata); +} + +static void _system_buffer_free_function(GPTR buffer_handle,GUINT32 size) +{ + gim_free(buffer_handle,size); +} + +static char * _system_lock_buffer_function(GPTR buffer_handle,int access) +{ + return (char * )(buffer_handle); +} + + +static void _system_unlock_buffer_function(GPTR buffer_handle) +{ +} + +static void _system_download_from_buffer_function( + GPTR source_buffer_handle, + GUINT32 source_pos, + void * destdata, + GUINT32 copysize) +{ + char * pdata; + pdata = (char *)source_buffer_handle; + memcpy(destdata,pdata+source_pos,copysize); +} + +static void _system_upload_to_buffer_function( + GPTR dest_buffer_handle, + GUINT32 dest_pos, + void * sourcedata, + GUINT32 copysize) +{ + char * pdata; + pdata = (char * )dest_buffer_handle; + memcpy(pdata+dest_pos,sourcedata,copysize); +} + +static void _system_copy_buffers_function( + GPTR source_buffer_handle, + GUINT32 source_pos, + GPTR dest_buffer_handle, + GUINT32 dest_pos, + GUINT32 copysize) +{ + char * pdata1,*pdata2; + pdata1 = (char *)source_buffer_handle; + pdata2 = (char *)dest_buffer_handle; + memcpy(pdata2+dest_pos,pdata1+source_pos,copysize); +} + +static GPTR _shared_buffer_alloc_function(GUINT32 size,int usage) +{ + return 0; +} + +static GPTR _shared_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage) +{ + return (GPTR)pdata; +} + +#if 0 +static GPTR _shared_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage) +{ + return 0; +} +#endif + +static void _shared_buffer_free_function(GPTR buffer_handle,GUINT32 size) +{ +} + +static inline int _is_buffer_manager_data_active(GBUFFER_MANAGER_DATA * bm_data) +{ + return bm_data->m_buffer_array.m_pdata != 0; +} + +static inline void _init_buffer_manager_data(GBUFFER_MANAGER_DATA * bm_data) +{ + bm_data->m_buffer_array.m_pdata = 0; +} + +static const GBUFFER_MANAGER_PROTOTYPE g_bm_prototypes[G_BUFFER_MANAGER__MAX] = +{ + { + &_system_buffer_alloc_function, // alloc_fn; + &_system_buffer_alloc_data_function, // alloc_data_fn; + &_system_buffer_realloc_function, // realloc_fn; + &_system_buffer_free_function, // free_fn; + &_system_lock_buffer_function, // lock_buffer_fn; + &_system_unlock_buffer_function, // unlock_buffer_fn; + &_system_download_from_buffer_function, // download_from_buffer_fn; + &_system_upload_to_buffer_function, // upload_to_buffer_fn; + &_system_copy_buffers_function, // copy_buffers_fn; + }, // G_BUFFER_MANAGER_SYSTEM + + { + &_shared_buffer_alloc_function, // alloc_fn; + &_shared_buffer_alloc_data_function, // alloc_data_fn; + &_system_buffer_realloc_function, // realloc_fn; + &_shared_buffer_free_function, // free_fn; + &_system_lock_buffer_function, // lock_buffer_fn; + &_system_unlock_buffer_function, // unlock_buffer_fn; + &_system_download_from_buffer_function, // download_from_buffer_fn; + &_system_upload_to_buffer_function, // upload_to_buffer_fn; + &_system_copy_buffers_function, // copy_buffers_fn; + }, // G_BUFFER_MANAGER_SHARED +}; + +int gim_is_buffer_manager_active(GBUFFER_MANAGER_DATA buffer_managers[], + GUINT32 buffer_manager_id) +{ + GBUFFER_MANAGER_DATA * bm_data; + bm_data = &buffer_managers[buffer_manager_id]; + return _is_buffer_manager_data_active(bm_data); +} + +//!** Buffer manager operations +void gim_create_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], + GUINT32 buffer_manager_id) +{ + GBUFFER_MANAGER_DATA * bm_data; + bm_data = &buffer_managers[buffer_manager_id]; + + if (_is_buffer_manager_data_active(bm_data)) + { + gim_destroy_buffer_manager(buffer_managers, buffer_manager_id); + } + + //CREATE ARRAYS + GIM_DYNARRAY_CREATE(GBUFFER_DATA,bm_data->m_buffer_array,G_ARRAY_BUFFERMANAGER_INIT_SIZE); + GIM_DYNARRAY_CREATE(GUINT32,bm_data->m_free_positions,G_ARRAY_BUFFERMANAGER_INIT_SIZE); + bm_data->m_prototype = g_bm_prototypes + buffer_manager_id; + bm_data->m_buffer_manager_id = buffer_manager_id; +} + +void gim_destroy_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], GUINT32 buffer_manager_id) +{ + GBUFFER_MANAGER_DATA * bm_data; + gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data); + if(bm_data == 0) return; + //Destroy all buffers + + GBUFFER_DATA * buffers = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array); + GUINT32 i, buffer_count = bm_data->m_buffer_array.m_size; + for (i=0;im_buffer_handle!=0) //Is active + { + // free handle + bm_data->m_prototype->free_fn(current_buffer->m_buffer_handle,current_buffer->m_size); + } + } + + //destroy buffer array + GIM_DYNARRAY_DESTROY(bm_data->m_buffer_array); + //destroy free positions + GIM_DYNARRAY_DESTROY(bm_data->m_free_positions); +} +void gim_get_buffer_manager_data(GBUFFER_MANAGER_DATA buffer_managers[], + GUINT32 buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data) +{ + GBUFFER_MANAGER_DATA * bm_data; + bm_data = &buffer_managers[buffer_manager_id]; + + if (_is_buffer_manager_data_active(bm_data)) + { + *pbm_data = bm_data; + } + else + { + *pbm_data = 0; + } +} + +void gim_init_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[]) +{ + GUINT32 i; + for (i=0;im_free_positions.m_size>0)\ + { + GUINT32 * _pointer = GIM_DYNARRAY_POINTER(GUINT32,buffer_manager->m_free_positions); + buffer_id = _pointer[buffer_manager->m_free_positions.m_size-1]; + GIM_DYNARRAY_POP_ITEM(buffer_manager->m_free_positions); + } + else + { + buffer_id = buffer_manager->m_buffer_array.m_size; + GIM_DYNARRAY_PUSH_EMPTY(GBUFFER_DATA,buffer_manager->m_buffer_array); + } +} + +GINT32 _validate_buffer_id(GBUFFER_ID * buffer_id,GBUFFER_DATA ** ppbuffer,GBUFFER_MANAGER_DATA ** pbm_data) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + *ppbuffer = pbuffer; + *pbm_data = bm_data; + return G_BUFFER_OP_SUCCESS; +} + +GUINT32 gim_create_buffer( + GBUFFER_MANAGER_DATA buffer_managers[], + GUINT32 buffer_manager_id, + GUINT32 buffer_size, + int usage, + GBUFFER_ID * buffer_id) +{ + VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id) + + GPTR newbufferhandle = bm_data->m_prototype->alloc_fn(buffer_size,usage); + if(newbufferhandle==0) return G_BUFFER_OP_INVALID; + + GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id); + buffer_id->m_bm_data = bm_data; + + GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array); + pbuffer += buffer_id->m_buffer_id ; + pbuffer->m_buffer_handle = newbufferhandle; + pbuffer->m_size = buffer_size; + pbuffer->m_usage = usage; + pbuffer->m_lock_count = 0; + pbuffer->m_refcount = 0; + pbuffer->m_mapped_pointer = 0; + + //set shadow buffer if needed + + if(usage == G_MU_STATIC_READ || + usage == G_MU_STATIC_READ_DYNAMIC_WRITE|| + usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) + { + gim_create_common_buffer(buffer_managers,buffer_size,&pbuffer->m_shadow_buffer); + } + else + { + pbuffer->m_shadow_buffer.m_bm_data = 0; + pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY; + } + return G_BUFFER_OP_SUCCESS; +} + + +GUINT32 gim_create_buffer_from_data( + GBUFFER_MANAGER_DATA buffer_managers[], + GUINT32 buffer_manager_id, + const void * pdata, + GUINT32 buffer_size, + int usage, + GBUFFER_ID * buffer_id) +{ + VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id) + + GPTR newbufferhandle = bm_data->m_prototype->alloc_data_fn(pdata,buffer_size,usage); + if(newbufferhandle==0) return G_BUFFER_OP_INVALID; + + GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id); + buffer_id->m_bm_data = bm_data; + + GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array); + pbuffer += buffer_id->m_buffer_id ; + pbuffer->m_buffer_handle = newbufferhandle; + pbuffer->m_size = buffer_size; + pbuffer->m_usage = usage; + pbuffer->m_lock_count = 0; + pbuffer->m_mapped_pointer = 0; + pbuffer->m_refcount = 0; + + //set shadow buffer if needed + + if(usage == G_MU_STATIC_READ || + usage == G_MU_STATIC_READ_DYNAMIC_WRITE|| + usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) + { + gim_create_common_buffer_from_data(buffer_managers,pdata,buffer_size,&pbuffer->m_shadow_buffer); + } + else + { + pbuffer->m_shadow_buffer.m_bm_data = 0; + pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY; + } + return G_BUFFER_OP_SUCCESS; +} + +GUINT32 gim_create_common_buffer(GBUFFER_MANAGER_DATA buffer_managers[], + GUINT32 buffer_size, GBUFFER_ID * buffer_id) +{ + return gim_create_buffer(buffer_managers,G_BUFFER_MANAGER_SYSTEM,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id); +} + +GUINT32 gim_create_common_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[], + const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id) +{ + return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SYSTEM,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id); +} + +GUINT32 gim_create_shared_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[], + const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id) +{ + return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SHARED,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id); +} + +GINT32 gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT32 newsize) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID; + GPTR newhandle = buffer_id->m_bm_data->m_prototype->realloc_fn( + pbuffer->m_buffer_handle,pbuffer->m_size,pbuffer->m_usage,newsize,pbuffer->m_usage); + if(newhandle==0) return G_BUFFER_OP_INVALID; + pbuffer->m_buffer_handle = newhandle; + //realloc shadow buffer if any + gim_buffer_realloc(&pbuffer->m_shadow_buffer,newsize); + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_buffer_add_ref(GBUFFER_ID * buffer_id) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + pbuffer->m_refcount++; + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_buffer_free(GBUFFER_ID * buffer_id) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID; + if(pbuffer->m_refcount>0) pbuffer->m_refcount--; + if(pbuffer->m_refcount>0) return G_BUFFER_OP_STILLREFCOUNTED; + + buffer_id->m_bm_data->m_prototype->free_fn( + pbuffer->m_buffer_handle,pbuffer->m_size); + //destroy shadow buffer if needed + gim_buffer_free(&pbuffer->m_shadow_buffer); + // Obtain a free slot index for a new buffer + GIM_DYNARRAY_PUSH_ITEM(GUINT32,bm_data->m_free_positions,buffer_id->m_buffer_id); + pbuffer->m_buffer_handle = 0; + pbuffer->m_size = 0; + pbuffer->m_shadow_buffer.m_bm_data = 0; + pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY; + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + if(pbuffer->m_lock_count>0) + { + if(pbuffer->m_access!=access) return G_BUFFER_OP_INVALID; + pbuffer->m_lock_count++; + *map_pointer = pbuffer->m_mapped_pointer; + return G_BUFFER_OP_SUCCESS; + } + + pbuffer->m_access = access; + + GUINT32 result; + if(pbuffer->m_usage==G_MU_STATIC_WRITE) + { + *map_pointer = 0;///no access + return G_BUFFER_OP_INVALID; + } + else if(pbuffer->m_usage==G_MU_STATIC_READ) + { + if(pbuffer->m_access == G_MA_READ_ONLY) + { + result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer); + if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + pbuffer->m_mapped_pointer = *map_pointer; + pbuffer->m_lock_count++; + } + else + { + *map_pointer = 0; + return G_BUFFER_OP_INVALID; + } + } + else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE) + { + if(pbuffer->m_access == G_MA_READ_ONLY) + { + result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer); + if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + pbuffer->m_mapped_pointer = *map_pointer; + pbuffer->m_lock_count++; + } + else if(pbuffer->m_access == G_MA_WRITE_ONLY) + { + pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn( + pbuffer->m_buffer_handle,access); + *map_pointer = pbuffer->m_mapped_pointer; + pbuffer->m_lock_count++; + } + else if(pbuffer->m_access == G_MA_READ_WRITE) + { + *map_pointer = 0; + return G_BUFFER_OP_INVALID; + } + } + else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) + { + result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer); + if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + pbuffer->m_mapped_pointer = *map_pointer; + pbuffer->m_lock_count++; + } + else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ) + { + if(pbuffer->m_access == G_MA_READ_ONLY) + { + pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn( + pbuffer->m_buffer_handle,access); + *map_pointer = pbuffer->m_mapped_pointer; + pbuffer->m_lock_count++; + } + else + { + *map_pointer = 0; + return G_BUFFER_OP_INVALID; + } + } + else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE) + { + pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn( + pbuffer->m_buffer_handle,access); + *map_pointer = pbuffer->m_mapped_pointer; + pbuffer->m_lock_count++; + } + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_unlock_buffer(GBUFFER_ID * buffer_id) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + if(pbuffer->m_lock_count==0) return G_BUFFER_OP_INVALID; + + if(pbuffer->m_lock_count>1) + { + pbuffer->m_lock_count--; + return G_BUFFER_OP_SUCCESS; + } + + + GUINT32 result; + if(pbuffer->m_usage==G_MU_STATIC_WRITE) + { + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + return G_BUFFER_OP_INVALID; + } + else if(pbuffer->m_usage==G_MU_STATIC_READ) + { + if(pbuffer->m_access == G_MA_READ_ONLY) + { + result = gim_unlock_buffer(&pbuffer->m_shadow_buffer); + if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + } + else + { + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + return G_BUFFER_OP_INVALID; + } + } + else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE) + { + if(pbuffer->m_access == G_MA_READ_ONLY) + { + result = gim_unlock_buffer(&pbuffer->m_shadow_buffer); + if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + } + else if(pbuffer->m_access == G_MA_WRITE_ONLY) + { + buffer_id->m_bm_data->m_prototype->unlock_buffer_fn( + pbuffer->m_buffer_handle); + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + } + else if(pbuffer->m_access == G_MA_READ_WRITE) + { + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + return G_BUFFER_OP_INVALID; + } + } + else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) + { + result = gim_unlock_buffer(&pbuffer->m_shadow_buffer); + if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + if(pbuffer->m_access == G_MA_WRITE_ONLY||pbuffer->m_access == G_MA_READ_WRITE) + { + gim_copy_buffers(&pbuffer->m_shadow_buffer,0,buffer_id,0,pbuffer->m_size); + } + } + else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ) + { + if(pbuffer->m_access == G_MA_READ_ONLY) + { + buffer_id->m_bm_data->m_prototype->unlock_buffer_fn( + pbuffer->m_buffer_handle); + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + } + else + { + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + return G_BUFFER_OP_INVALID; + } + } + else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE) + { + buffer_id->m_bm_data->m_prototype->unlock_buffer_fn( + pbuffer->m_buffer_handle); + pbuffer->m_mapped_pointer = 0; + pbuffer->m_lock_count=0; + } + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT32 * buffer_size) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + *buffer_size = pbuffer->m_size; + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT32 * lock_count) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + *lock_count = pbuffer->m_lock_count; + return G_BUFFER_OP_SUCCESS; +} + + +GINT32 gim_download_from_buffer( + GBUFFER_ID * buffer_id, + GUINT32 source_pos, + void * destdata, + GUINT32 copysize) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + buffer_id->m_bm_data->m_prototype->download_from_buffer_fn( + pbuffer->m_buffer_handle,source_pos,destdata,copysize); + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_upload_to_buffer( + GBUFFER_ID * buffer_id, + GUINT32 dest_pos, + void * sourcedata, + GUINT32 copysize) +{ + VALIDATE_BUFFER_ID_PT(buffer_id) + buffer_id->m_bm_data->m_prototype->upload_to_buffer_fn( + pbuffer->m_buffer_handle,dest_pos,sourcedata,copysize); + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_copy_buffers( + GBUFFER_ID * source_buffer_id, + GUINT32 source_pos, + GBUFFER_ID * dest_buffer_id, + GUINT32 dest_pos, + GUINT32 copysize) +{ + GBUFFER_MANAGER_DATA * bm_data1,* bm_data2; + GBUFFER_DATA * pbuffer1, * pbuffer2; + void * tempdata; + if(_validate_buffer_id(source_buffer_id,&pbuffer1,&bm_data1)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + + if(_validate_buffer_id(dest_buffer_id,&pbuffer2,&bm_data2)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; + + if((bm_data1->m_buffer_manager_id == bm_data2->m_buffer_manager_id)|| + (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)|| + (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM) + ) + {//smooth copy + bm_data1->m_prototype->copy_buffers_fn( + pbuffer1->m_buffer_handle,source_pos,pbuffer2->m_buffer_handle,dest_pos,copysize); + } + else if(bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM || + bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED) + { + //hard copy + tempdata = (void *)pbuffer1->m_buffer_handle; + //upload data + bm_data2->m_prototype->upload_to_buffer_fn( + pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize); + } + else + { + //very hard copy + void * tempdata = gim_alloc(copysize); + //download data + bm_data1->m_prototype->download_from_buffer_fn( + pbuffer1->m_buffer_handle,source_pos,tempdata,copysize); + + //upload data + bm_data2->m_prototype->upload_to_buffer_fn( + pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize); + //delete temp buffer + gim_free(tempdata,copysize); + } + return G_BUFFER_OP_SUCCESS; +} + +GINT32 gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access) +{ + if(array_data->m_buffer_data != 0) return G_BUFFER_OP_SUCCESS; + GINT32 result = gim_lock_buffer(&array_data->m_buffer_id,access,&array_data->m_buffer_data); + if(result!= G_BUFFER_OP_SUCCESS) return result; + array_data->m_buffer_data += array_data->m_byte_offset; + return result; +} + +GINT32 gim_buffer_array_unlock(GBUFFER_ARRAY * array_data) +{ + if(array_data->m_buffer_data == 0) return G_BUFFER_OP_SUCCESS; + GINT32 result = gim_unlock_buffer(&array_data->m_buffer_id); + if(result!= G_BUFFER_OP_SUCCESS) return result; + array_data->m_buffer_data = 0; + return result; +} + +void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY * dest_data) +{ + dest_data->m_buffer_id.m_buffer_id = source_data->m_buffer_id.m_buffer_id; + dest_data->m_buffer_id.m_bm_data = source_data->m_buffer_id.m_bm_data; + dest_data->m_buffer_data = 0; + dest_data->m_byte_stride = source_data->m_byte_stride; + dest_data->m_byte_offset = source_data->m_byte_offset; + dest_data->m_element_count = source_data->m_element_count; + gim_buffer_add_ref(&dest_data->m_buffer_id); +} + +void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data, + GBUFFER_MANAGER_DATA dest_buffer_managers[],GBUFFER_ARRAY * dest_data, + GUINT32 buffer_manager_id,int usage) +{ + //Create new buffer + GUINT32 buffsize = source_data->m_element_count*source_data->m_byte_stride; + gim_create_buffer(dest_buffer_managers,buffer_manager_id,buffsize,usage,&dest_data->m_buffer_id); + + //copy ref data + dest_data->m_buffer_data = 0; + dest_data->m_byte_stride = source_data->m_byte_stride; + dest_data->m_byte_offset = 0; + dest_data->m_element_count = source_data->m_element_count; + gim_buffer_add_ref(&dest_data->m_buffer_id); + //copy buffers + gim_copy_buffers(&source_data->m_buffer_id,source_data->m_byte_offset,&dest_data->m_buffer_id,0,buffsize); +} diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp new file mode 100644 index 0000000..5b4e08d --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp @@ -0,0 +1,251 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "GIMPACT/gim_trimesh.h" + + +#define FABS(x) (float(fabs(x))) /* implement as is fastest on your machine */ + +/* some macros */ + +#define CLASSIFY_TRIPOINTS_BY_FACE(v1,v2,v3,faceplane,out_of_face)\ +{ \ + _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\ + _distances[1] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\ + _distances[2] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \ + if(_distances[1]>0.0f && _distances[2]>0.0f)\ + {\ + out_of_face = 1;\ + }\ + else\ + {\ + out_of_face = 0;\ + }\ +}\ + +/* sort so that a<=b */ +#define SORT(a,b) \ + if(a>b) \ + { \ + float c; \ + c=a; \ + a=b; \ + b=c; \ + } + + +/* this edge to edge test is based on Franlin Antonio's gem: + "Faster Line Segment Intersection", in Graphics Gems III, + pp. 199-202 */ +#define EDGE_EDGE_TEST(V0,U0,U1) \ + Bx=U0[i0]-U1[i0]; \ + By=U0[i1]-U1[i1]; \ + Cx=V0[i0]-U0[i0]; \ + Cy=V0[i1]-U0[i1]; \ + f=Ay*Bx-Ax*By; \ + d=By*Cx-Bx*Cy; \ + if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \ + { \ + e=Ax*Cy-Ay*Cx; \ + if(f>0) \ + { \ + if(e>=0 && e<=f) return 1; \ + } \ + else \ + { \ + if(e<=0 && e>=f) return 1; \ + } \ + } + +#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \ +{ \ + float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \ + Ax=V1[i0]-V0[i0]; \ + Ay=V1[i1]-V0[i1]; \ + /* test edge U0,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U0,U1); \ + /* test edge U1,U2 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U1,U2); \ + /* test edge U2,U1 against V0,V1 */ \ + EDGE_EDGE_TEST(V0,U2,U0); \ +} + +#define POINT_IN_TRI(V0,U0,U1,U2) \ +{ \ + float a,b,c,d0,d1,d2; \ + /* is T1 completly inside T2? */ \ + /* check if V0 is inside tri(U0,U1,U2) */ \ + a=U1[i1]-U0[i1]; \ + b=-(U1[i0]-U0[i0]); \ + c=-a*U0[i0]-b*U0[i1]; \ + d0=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U2[i1]-U1[i1]; \ + b=-(U2[i0]-U1[i0]); \ + c=-a*U1[i0]-b*U1[i1]; \ + d1=a*V0[i0]+b*V0[i1]+c; \ + \ + a=U0[i1]-U2[i1]; \ + b=-(U0[i0]-U2[i0]); \ + c=-a*U2[i0]-b*U2[i1]; \ + d2=a*V0[i0]+b*V0[i1]+c; \ + if(d0*d1>0.0) \ + { \ + if(d0*d2>0.0) return 1; \ + } \ +} + +int coplanar_tri_tri(GIM_TRIANGLE_DATA *tri1, + GIM_TRIANGLE_DATA *tri2) +{ + short i0,i1; + /* first project onto an axis-aligned plane, that maximizes the area */ + /* of the triangles, compute indices: i0,i1. */ + PLANE_MINOR_AXES(tri1->m_planes.m_planes[0], i0, i1); + + /* test all edges of triangle 1 against the edges of triangle 2 */ + EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[0],tri1->m_vertices[1],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]); + EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]); + EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[2],tri1->m_vertices[0],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]); + + /* finally, test if tri1 is totally contained in tri2 or vice versa */ + POINT_IN_HULL(tri1->m_vertices[0],(&tri2->m_planes.m_planes[1]),3,i0); + if(i0==0) return 1; + + POINT_IN_HULL(tri2->m_vertices[0],(&tri1->m_planes.m_planes[1]),3,i0); + if(i0==0) return 1; + + return 0; +} + + + +#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \ +{ \ + if(D0D1>0.0f) \ + { \ + /* here we know that D0D2<=0.0 */ \ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ + A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \ + } \ + else if(D0D2>0.0f)\ + { \ + /* here we know that d0d1<=0.0 */ \ + A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \ + } \ + else if(D1*D2>0.0f || D0!=0.0f) \ + { \ + /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ + A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \ + } \ + else if(D1!=0.0f) \ + { \ + A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \ + } \ + else if(D2!=0.0f) \ + { \ + A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \ + } \ + else \ + { \ + /* triangles are coplanar */ \ + return coplanar_tri_tri(tri1,tri2); \ + } \ +}\ + + + +int gim_triangle_triangle_overlap( + GIM_TRIANGLE_DATA *tri1, + GIM_TRIANGLE_DATA *tri2) +{ + vec3f _distances; + char out_of_face; + CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face); + if(out_of_face==1) return 0; + + CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face); + if(out_of_face==1) return 0; + + + float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0; + float D[3]; + float isect1[2], isect2[2]; + float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0; + short index; + float vp0,vp1,vp2; + float up0,up1,up2; + float bb,cc,max; + + /* compute direction of intersection line */ + VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]); + + /* compute and index to the largest component of D */ + max=(float)FABS(D[0]); + index=0; + bb=(float)FABS(D[1]); + cc=(float)FABS(D[2]); + if(bb>max) max=bb,index=1; + if(cc>max) max=cc,index=2; + + /* this is the simplified projection onto L*/ + vp0= tri1->m_vertices[0][index]; + vp1= tri1->m_vertices[1][index]; + vp2= tri1->m_vertices[2][index]; + + up0= tri2->m_vertices[0][index]; + up1= tri2->m_vertices[1][index]; + up2= tri2->m_vertices[2][index]; + + /* compute interval for triangle 1 */ + float a,b,c,x0,x1; + NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1); + + /* compute interval for triangle 2 */ + float d,e,f,y0,y1; + NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1); + + float xx,yy,xxyy,tmp; + xx=x0*x1; + yy=y0*y1; + xxyy=xx*yy; + + tmp=a*xxyy; + isect1[0]=tmp+b*x1*yy; + isect1[1]=tmp+c*x0*yy; + + tmp=d*xxyy; + isect2[0]=tmp+e*xx*y1; + isect2[1]=tmp+f*xx*y0; + + SORT(isect1[0],isect1[1]); + SORT(isect2[0],isect2[1]); + + if(isect1[1] +#include "GIMPACT/gim_trimesh.h" + +GUINT32 gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh) +{ + return trimesh->m_tri_index_buffer.m_element_count/3; +} + +//! Creates the aabb set and the triangles cache +/*! + +\param trimesh +\param vertex_array +\param triindex_array +\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. +\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer) +*/ +void gim_trimesh_create_from_arrays(GBUFFER_MANAGER_DATA buffer_managers[], + GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply) +{ + assert(trimesh); + assert(vertex_array); + assert(triindex_array); + gim_buffer_array_copy_ref(vertex_array,&trimesh->m_source_vertex_buffer); + gim_buffer_array_copy_ref(triindex_array,&trimesh->m_tri_index_buffer); + + trimesh->m_mask = GIM_TRIMESH_NEED_UPDATE;//needs update + //Create the transformed vertices + if(transformed_reply==1) + { + trimesh->m_mask |= GIM_TRIMESH_TRANSFORMED_REPLY; + gim_buffer_array_copy_value(vertex_array, + buffer_managers,&trimesh->m_transformed_vertex_buffer,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE); + } + else + { + gim_buffer_array_copy_ref(vertex_array,&trimesh->m_transformed_vertex_buffer); + } + //create the box set + GUINT32 facecount = gim_trimesh_get_triangle_count(trimesh); + + gim_aabbset_alloc(&trimesh->m_aabbset,facecount); + //create the planes cache + GIM_DYNARRAY_CREATE_SIZED(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer,facecount); + //Create the bitset + GIM_BITSET_CREATE_SIZED(trimesh->m_planes_cache_bitset,facecount); + //Callback is 0 + trimesh->m_update_callback = 0; + //set to identity + IDENTIFY_MATRIX_4X4(trimesh->m_transform); +} + + + +//! Create a trimesh from vertex array and an index array +/*! + +\param trimesh An uninitialized GIM_TRIMESH structure +\param vertex_array A buffer to a vec3f array +\param vertex_count +\param triindex_array +\param index_count +\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. +\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. +\param transformed_reply If , then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. +*/ +void gim_trimesh_create_from_data(GBUFFER_MANAGER_DATA buffer_managers[], + GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT32 vertex_count,char copy_vertices, + GUINT32 * triindex_array, GUINT32 index_count,char copy_indices,char transformed_reply) +{ + GBUFFER_ARRAY buffer_vertex_array; + GBUFFER_ARRAY buffer_triindex_array; + + //Create vertices + if(copy_vertices == 1) + { + gim_create_common_buffer_from_data(buffer_managers, + vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id); + } + else//Create a shared buffer + { + gim_create_shared_buffer_from_data(buffer_managers, + vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id); + } + GIM_BUFFER_ARRAY_INIT_TYPE(vec3f,buffer_vertex_array,buffer_vertex_array.m_buffer_id,vertex_count); + + + //Create vertices + if(copy_indices == 1) + { + gim_create_common_buffer_from_data(buffer_managers, + triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id); + } + else//Create a shared buffer + { + gim_create_shared_buffer_from_data(buffer_managers, + triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id); + } + GIM_BUFFER_ARRAY_INIT_TYPE(GUINT32,buffer_triindex_array,buffer_triindex_array.m_buffer_id,index_count); + + gim_trimesh_create_from_arrays(buffer_managers, trimesh, + &buffer_vertex_array, &buffer_triindex_array,transformed_reply); + + ///always call this after create a buffer_array + GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array); + GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array); +} + +//! Clears auxiliary data and releases buffer arrays +void gim_trimesh_destroy(GIM_TRIMESH * trimesh) +{ + gim_aabbset_destroy(&trimesh->m_aabbset); + + GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_buffer); + GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_bitset); + + GIM_BUFFER_ARRAY_DESTROY(trimesh->m_transformed_vertex_buffer); + GIM_BUFFER_ARRAY_DESTROY(trimesh->m_source_vertex_buffer); + GIM_BUFFER_ARRAY_DESTROY(trimesh->m_tri_index_buffer); +} + +//! Copies two meshes +/*! +\pre dest_trimesh shouldn't be created +\post dest_trimesh will be created +\param source_trimesh +\param dest_trimesh +\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices +\param transformed_reply IF 1, then it forces the m_trasnformed_vertices to be a reply of the source vertices +*/ +void gim_trimesh_copy(GIM_TRIMESH * source_trimesh, + GBUFFER_MANAGER_DATA dest_buffer_managers[], GIM_TRIMESH * dest_trimesh, + char copy_by_reference, char transformed_reply) +{ +/* -- trimesh can not be copied by reference until GBUFFER_MANAGER_DATA is rewritten + to be thread safe and until it is moved back to global variables. + if(copy_by_reference==1) + { + gim_trimesh_create_from_arrays(dest_trimesh, &source_trimesh->m_source_vertex_buffer, &source_trimesh->m_tri_index_buffer,transformed_reply); + } + else +*/ + { + GBUFFER_ARRAY buffer_vertex_array; + GBUFFER_ARRAY buffer_triindex_array; + + gim_buffer_array_copy_value(&source_trimesh->m_source_vertex_buffer, + dest_buffer_managers,&buffer_vertex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE); + + gim_buffer_array_copy_value(&source_trimesh->m_tri_index_buffer, + dest_buffer_managers,&buffer_triindex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE); + + gim_trimesh_create_from_arrays(dest_buffer_managers, dest_trimesh, + &buffer_vertex_array, &buffer_triindex_array,transformed_reply); + + ///always call this after create a buffer_array + GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array); + GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array); + } +} +//! Locks the trimesh for working with it +/*! +\post locks m_tri_index_buffer and m_transformed_vertex_buffer. +\param trimesh +*/ +void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh) +{ + GINT32 res; + res=gim_buffer_array_lock(&trimesh->m_tri_index_buffer,G_MA_READ_ONLY); + assert(res==G_BUFFER_OP_SUCCESS); + res=gim_buffer_array_lock(&trimesh->m_transformed_vertex_buffer,G_MA_READ_ONLY); + assert(res==G_BUFFER_OP_SUCCESS); +} + +//! unlocks the trimesh +/*! +\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer. +\param trimesh +*/ +void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh) +{ + gim_buffer_array_unlock(&trimesh->m_tri_index_buffer); + gim_buffer_array_unlock(&trimesh->m_transformed_vertex_buffer); +} + + +//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer +char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh) +{ + if(trimesh->m_mask&GIM_TRIMESH_TRANSFORMED_REPLY) return 1; + return 0; +} + +//! Returns 1 if the trimesh needs to update their aabbset and the planes cache. +char gim_trimesh_needs_update(GIM_TRIMESH * trimesh) +{ + if(trimesh->m_mask&GIM_TRIMESH_NEED_UPDATE) return 1; + return 0; +} + +//! Change the state of the trimesh for force it to update +/*! +Call it after made changes to the trimesh. +\post gim_trimesh_need_update(trimesh) will return 1 +*/ +void gim_trimesh_post_update(GIM_TRIMESH * trimesh) +{ + trimesh->m_mask |= GIM_TRIMESH_NEED_UPDATE; +} + +//kernel +#define MULT_MAT_VEC4_KERNEL(_mat,_src,_dst) MAT_DOT_VEC_3X4((_dst),(_mat),(_src)) + +//! Updates m_transformed_vertex_buffer +/*! +\pre m_transformed_vertex_buffer must be unlocked +*/ +void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh) +{ + if(gim_trimesh_has_tranformed_reply(trimesh) == 0) return; //Don't perform transformation + + //Vertices + GBUFFER_ARRAY * psource_vertex_buffer = &trimesh->m_source_vertex_buffer; + GBUFFER_ARRAY * ptransformed_vertex_buffer = &trimesh->m_transformed_vertex_buffer; + //Temp transform + mat4f transform; + COPY_MATRIX_4X4(transform,trimesh->m_transform); + + GIM_PROCESS_BUFFER_ARRAY(transform,(*psource_vertex_buffer),(*ptransformed_vertex_buffer),MULT_MAT_VEC4_KERNEL,vec3f,vec3f); +} + +//! Updates m_aabbset and m_planes_cache_bitset +/*! +\pre gim_trimesh_locks_work_data must be called before +*/ +void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh) +{ + vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); + assert(transformed_vertices); + + GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,0); + assert(triangle_indices); + // box set + aabb3f * paabb = trimesh->m_aabbset.m_boxes; + GUINT32 triangle_count = gim_trimesh_get_triangle_count(trimesh); + float * v1,*v2,*v3; + GUINT32 i; + for (i=0; im_planes_cache_bitset); + //Sorts set + gim_aabbset_update(&trimesh->m_aabbset); +} + +//! Updates the trimesh if needed +/*! +\post If gim_trimesh_needs_update returns 1, then it calls gim_trimesh_update_vertices and gim_trimesh_update_aabbset +*/ +void gim_trimesh_update(GIM_TRIMESH * trimesh) +{ + if(gim_trimesh_needs_update(trimesh)==0) return; + gim_trimesh_update_vertices(trimesh); + gim_trimesh_locks_work_data(trimesh); + gim_trimesh_update_aabbset(trimesh); + gim_trimesh_unlocks_work_data(trimesh); + + //Clear update flag + trimesh->m_mask &= ~GIM_TRIMESH_NEED_UPDATE; +} + +void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform) +{ + GREAL diff = 0.0f; + float * originaltrans = &trimesh->m_transform[0][0]; + float * newtrans = &transform[0][0]; + GUINT32 i; + for (i=0;i<16;i++) + { + diff += fabs(originaltrans[i]-newtrans[i]); + } + +// if(IS_ZERO(diff)) return ;///don't need to update + if(diff< 0.00001f) return ;///don't need to update + + COPY_MATRIX_4X4(trimesh->m_transform,transform); + + gim_trimesh_post_update(trimesh); +} + +void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT32 triangle_index, GIM_TRIANGLE_DATA * tri_data) +{ + vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); + + GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3); + + + //Copy the vertices + VEC_COPY(tri_data->m_vertices[0],transformed_vertices[triangle_indices[0]]); + VEC_COPY(tri_data->m_vertices[1],transformed_vertices[triangle_indices[1]]); + VEC_COPY(tri_data->m_vertices[2],transformed_vertices[triangle_indices[2]]); + + //Get the planes + GIM_TRIPLANES_CACHE * planes = GIM_DYNARRAY_POINTER(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer); + planes += triangle_index; + + //verify planes cache + GUINT32 bit_eval; + GIM_BITSET_GET(trimesh->m_planes_cache_bitset,triangle_index,bit_eval); + if(bit_eval == 0)// Needs to calc the planes + { + //Calc the face plane + TRIANGLE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],tri_data->m_vertices[2],planes->m_planes[0]); + //Calc the edge 1 + EDGE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],(planes->m_planes[0]),(planes->m_planes[1])); + + //Calc the edge 2 + EDGE_PLANE(tri_data->m_vertices[1],tri_data->m_vertices[2],(planes->m_planes[0]),(planes->m_planes[2])); + + //Calc the edge 3 + EDGE_PLANE(tri_data->m_vertices[2],tri_data->m_vertices[0],(planes->m_planes[0]), (planes->m_planes[3])); + + //mark + GIM_BITSET_SET(trimesh->m_planes_cache_bitset,triangle_index); + } + + + VEC_COPY_4((tri_data->m_planes.m_planes[0]),(planes->m_planes[0]));//face plane + VEC_COPY_4((tri_data->m_planes.m_planes[1]),(planes->m_planes[1]));//edge1 + VEC_COPY_4((tri_data->m_planes.m_planes[2]),(planes->m_planes[2]));//edge2 + VEC_COPY_4((tri_data->m_planes.m_planes[3]),(planes->m_planes[3]));//edge3 +} + +void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT32 triangle_index, vec3f v1, vec3f v2, vec3f v3) +{ + vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); + + GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3); + + //Copy the vertices + if (v1 != NULL) + { + VEC_COPY(v1,transformed_vertices[triangle_indices[0]]); + } + + if (v2 != NULL) + { + VEC_COPY(v2,transformed_vertices[triangle_indices[1]]); + } + + if (v3 != NULL) + { + VEC_COPY(v3,transformed_vertices[triangle_indices[2]]); + } +} diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp new file mode 100644 index 0000000..bc48aa5 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp @@ -0,0 +1,285 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "GIMPACT/gim_trimesh.h" + +//! Utility function for find the closest point between a segment and a triangle +/*! + +\param triangle +\param s1 +\param s2 +\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance + +\post The contacts array is not set to 0. It adds aditional contacts +*/ +void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts) +{ + vec3f segment_points[4] = {{0}}; + vec3f closest_points[2] = {{0}}; + GUINT32 intersection_type, out_edge= 10; + GREAL dis, dis_temp,perpend; + vec4f sdiff; + + dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1); + dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2); + + if(dis<=0.0f && dis_temp<=0.0f) return; + + VEC_DIFF(sdiff,s2,s1); + perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]); + + if(!IS_ZERO(perpend)) // Not perpendicular + { + if(dis=0.0f && dis_temp>=0.0f) + { + POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge); + + if(out_edge==0)//Point over face + { + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + return; + } + } + else + { + + PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]); + + POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge); + + if(out_edge==0)//Point over face + { + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + return; + } + } + + } + else // Perpendicular Face + { + //out_edge=10 + //Clip segment by triangle + // Edge1 + PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type); + if(intersection_type==0||intersection_type==1) + { + out_edge = 0; + VEC_COPY(closest_points[0],segment_points[0]); + } + else + { + //Edge2 + PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type); + if(intersection_type==0||intersection_type==1) + { + out_edge = 1; + VEC_COPY(closest_points[0],segment_points[3]); + } + else + { + //Edge3 + PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type); + if(intersection_type==0||intersection_type==1) + { + out_edge = 2; + } + } + } + //POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2 + if(out_edge>2) // Over triangle + { + dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],closest_points[0]); + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + return; + } + } + + //Find closest edges + out_edge = 10; + dis = G_REAL_INFINITY; + GUINT32 i; + for(i=0;i<3;i++) + { + SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]); + VEC_DIFF(sdiff,segment_points[0],segment_points[1]); + dis_temp = VEC_DOT(sdiff,sdiff); + if(dis_temp< dis) + { + dis = dis_temp; + out_edge = i; + VEC_COPY(closest_points[0],segment_points[0]); + VEC_COPY(closest_points[1],sdiff);//normal + } + } + if(out_edge>2) return ;// ???? ASSERT this please + + if(IS_ZERO(dis)) + { + //Set face plane + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0); + + } + else + { + GIM_SQRT(dis,dis); + VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0); + } +} + + +//! Utility function for find the closest point between a capsule and a triangle +/*! + +\param triangle +\param capsule +\param contacts Contains the closest points on the capsule, and the normal points to triangle + +\post The contacts array is not set to 0. It adds aditional contacts +*/ +int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) +{ + GUINT32 old_contact_size = contacts->m_size; + gim_closest_point_triangle_segment(triangle,capsule->m_point1,capsule->m_point2,contacts); + + if (contacts->m_size == old_contact_size) + { + return 0; + } + + GIM_CONTACT * pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,(*contacts)); + pcontact+= old_contact_size; + + if(pcontact->m_depth > capsule->m_radius) + { + contacts->m_size = old_contact_size; + return 0; + } + + vec3f vec; + while(old_contact_sizem_size) + { + //Scale the normal for pointing to triangle + VEC_SCALE(pcontact->m_normal,-1.0f,pcontact->m_normal); + //Fix the contact point + VEC_SCALE(vec,capsule->m_radius,pcontact->m_normal); + VEC_SUM(pcontact->m_point,vec,pcontact->m_point); + //Fix the depth + pcontact->m_depth = capsule->m_radius - pcontact->m_depth; + + pcontact++; + old_contact_size++; + } + + return 1; +} + + +//! Trimesh Capsule collision +/*! +Find the closest primitive collided by the ray +\param trimesh +\param capsule +\param contact +\param contacts A GIM_CONTACT array. Must be initialized +*/ +void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) +{ + contacts->m_size = 0; + + aabb3f test_aabb; + CALC_CAPSULE_AABB((*capsule),test_aabb); + + GDYNAMIC_ARRAY collision_result; + GIM_CREATE_BOXQUERY_LIST(collision_result); + + gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result); + + if(collision_result.m_size==0) + { + GIM_DYNARRAY_DESTROY(collision_result); + } + + //collide triangles + //Locks trimesh + gim_trimesh_locks_work_data(trimesh); + //dummy contacts + GDYNAMIC_ARRAY dummycontacts; + GIM_CREATE_CONTACT_LIST(dummycontacts); + + int cresult; + unsigned int i; + GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result); + GIM_TRIANGLE_DATA tri_data; + GUINT32 old_contact_size; + GIM_CONTACT * pcontact; + + for(i=0;im_handle1 = trimesh; + pcontact->m_handle2 = capsule; + pcontact->m_feature1 = boxesresult[i]; + pcontact->m_feature2 = 0; + pcontact++; + old_contact_size++; + } + } + } + ///unlocks + gim_trimesh_unlocks_work_data(trimesh); + ///Destroy box result + GIM_DYNARRAY_DESTROY(collision_result); + + //merge contacts + gim_merge_contacts(&dummycontacts,contacts); + + //Destroy dummy + GIM_DYNARRAY_DESTROY(dummycontacts); +} diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp new file mode 100644 index 0000000..e83993e --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp @@ -0,0 +1,149 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "GIMPACT/gim_trimesh.h" + + +//! Trimesh Ray Collisions +/*! + +\param trimesh +\param contact +\return 1 if the ray collides, else 0 +*/ +int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact) +{ + GDYNAMIC_ARRAY collision_result; + GIM_CREATE_BOXQUERY_LIST(collision_result); + + gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result); + + if(collision_result.m_size==0) + { + GIM_DYNARRAY_DESTROY(collision_result); + return 0; + } + + //collide triangles + + GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result); + GIM_TRIANGLE_DATA tridata; + vec3f pout; + GREAL tparam,u,v; + char does_intersect; + + gim_trimesh_locks_work_data(trimesh); + + for(unsigned int i=0;itparam = tparam; + contact->u = u; + contact->v = v; + contact->m_face_id = boxesresult[i]; + VEC_COPY(contact->m_point,pout); + VEC_COPY(contact->m_normal,flippedPlane); + + gim_trimesh_unlocks_work_data(trimesh); + GIM_DYNARRAY_DESTROY(collision_result); + return 1; + } + } + + gim_trimesh_unlocks_work_data(trimesh); + GIM_DYNARRAY_DESTROY(collision_result); + return 0;//no collisiion +} + + +//! Trimesh Ray Collisions closest +/*! +Find the closest primitive collided by the ray +\param trimesh +\param contact +\return 1 if the ray collides, else 0 +*/ +int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact) +{ + GDYNAMIC_ARRAY collision_result; + GIM_CREATE_BOXQUERY_LIST(collision_result); + + gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result); + + if(collision_result.m_size==0) + { + GIM_DYNARRAY_DESTROY(collision_result); + return 0; + } + + //collide triangles + + GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result); + GIM_TRIANGLE_DATA tridata; + vec3f pout; + GREAL tparam,u,v; + char does_intersect; + contact->tparam = tmax + 0.1f; + + gim_trimesh_locks_work_data(trimesh); + + for(unsigned int i=0;itparam)) + { + contact->tparam = tparam; + contact->u = u; + contact->v = v; + contact->m_face_id = boxesresult[i]; + VEC_COPY(contact->m_point,pout); + VEC_COPY(contact->m_normal,flippedPlane); + } + } + + gim_trimesh_unlocks_work_data(trimesh); + GIM_DYNARRAY_DESTROY(collision_result); + if(contact->tparam > tmax) return 0; + return 1; +} diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp new file mode 100644 index 0000000..0d61715 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp @@ -0,0 +1,196 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "GIMPACT/gim_trimesh.h" + +int gim_triangle_sphere_collision( + GIM_TRIANGLE_DATA *tri, + vec3f center, GREAL radius, + GIM_TRIANGLE_CONTACT_DATA * contact_data) +{ + contact_data->m_point_count = 0; + + //Find Face plane distance + GREAL dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[0],center); + if(dis>radius) return 0; //out + if(dis<-radius) return 0;//Out of triangle + contact_data->m_penetration_depth = dis; + + //Find the most edge + GUINT32 most_edge = 4;//no edge + GREAL max_dis = 0.0f; + dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[1],center); + if(dis>radius) return 0;//Out of triangle + if(dis>0.0f) + { + max_dis = dis; + most_edge = 0; + } + + dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[2],center); + if(dis>radius) return 0;//Out of triangle + if(dis>max_dis)// && dis>0.0f) + { + max_dis = dis; + most_edge = 1; + } + + dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[3],center); + if(dis>radius) return 0;//Out of triangle + if(dis>max_dis)// && dis>0.0f) + { + max_dis = dis; + most_edge = 2; + } + + if(most_edge == 4) //Box is into triangle + { + //contact_data->m_penetration_depth = dis is set above + //Find Face plane point + VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[0]); + //Find point projection on plane + if(contact_data->m_penetration_depth>=0.0f) + { + VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal); + } + else + { + VEC_SCALE(contact_data->m_points[0],radius,contact_data->m_separating_normal); + } + contact_data->m_penetration_depth = radius - contact_data->m_penetration_depth; + + VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center); + //Scale normal for pointing to triangle + VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal); + contact_data->m_point_count = 1; + return 1; + } + //find the edge + vec3f e1,e2; + VEC_COPY(e1,tri->m_vertices[most_edge]); + VEC_COPY(e2,tri->m_vertices[(most_edge+1)%3]); + + CLOSEST_POINT_ON_SEGMENT(contact_data->m_points[0],center,e1,e2); + //find distance + VEC_DIFF(e1,center,contact_data->m_points[0]); + VEC_LENGTH(e1,dis); + if(dis>radius) return 0; + + contact_data->m_penetration_depth = radius - dis; + + if(IS_ZERO(dis)) + { + VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[most_edge+1]); + VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal); + VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center); + } + else + { + VEC_SCALE(contact_data->m_separating_normal,1.0f/dis,e1); + VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal); + VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center); + } + + //Scale normal for pointing to triangle + VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal); + + contact_data->m_point_count = 1; + return 1; + +} + +//! Trimesh Sphere Collisions +/*! +In each contact +
    +
  • m_handle1 points to trimesh. +
  • m_handle2 points to NULL. +
  • m_feature1 Is a triangle index of trimesh. +
+ +\param trimesh +\param center +\param radius +\param contacts A GIM_CONTACT array. Must be initialized +*/ +void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts) +{ + contacts->m_size = 0; + + aabb3f test_aabb; + test_aabb.minX = center[0]-radius; + test_aabb.maxX = center[0]+radius; + test_aabb.minY = center[1]-radius; + test_aabb.maxY = center[1]+radius; + test_aabb.minZ = center[2]-radius; + test_aabb.maxZ = center[2]+radius; + + GDYNAMIC_ARRAY collision_result; + GIM_CREATE_BOXQUERY_LIST(collision_result); + + gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result); + + if(collision_result.m_size==0) + { + GIM_DYNARRAY_DESTROY(collision_result); + } + + //collide triangles + //Locks trimesh + gim_trimesh_locks_work_data(trimesh); + //dummy contacts + GDYNAMIC_ARRAY dummycontacts; + GIM_CREATE_CONTACT_LIST(dummycontacts); + + int cresult; + unsigned int i; + GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result); + GIM_TRIANGLE_CONTACT_DATA tri_contact_data; + GIM_TRIANGLE_DATA tri_data; + + for(i=0;i0.0f && _distances[2]>0.0f)\ + {\ + out_of_face = 1;\ + }\ + else\ + {\ + out_of_face = 0;\ + }\ +}\ + + +//! Receives the 3 edge planes +#define MOST_DEEP_POINTS(plane,points,point_count,deep_points,deep_points_count,maxdeep)\ +{\ + maxdeep=-1000.0f;\ + GUINT32 _k;\ + GREAL _dist;\ + deep_points_count = 0;\ + for(_k=0;_kmaxdeep)\ + {\ + maxdeep = _dist;\ + _max_candidates[0] = _k;\ + deep_points_count=1;\ + }\ + else if((_dist+G_EPSILON)>=maxdeep)\ + {\ + _max_candidates[deep_points_count] = _k;\ + deep_points_count++;\ + }\ + }\ + if(maxdeep<0.0f)\ + {\ + deep_points_count = 0;\ + }\ + else\ + {\ + for(_k=0;_k0)\ + {\ + _temp_clip_count2 = 0;\ + PLANE_CLIP_POLYGON(tri_edge_planes[1],_temp_clip,_temp_clip_count,_temp_clip2,_temp_clip_count2,MAX_TRI_CLIPPING);\ + if(_temp_clip_count2>0)\ + {\ + PLANE_CLIP_POLYGON(tri_edge_planes[2],_temp_clip2,_temp_clip_count2,clipped_points,clipped_point_count,MAX_TRI_CLIPPING);\ + }\ + }\ +}\ + + + +int _gim_triangle_triangle_collision( + GIM_TRIANGLE_DATA *tri1, + GIM_TRIANGLE_DATA *tri2, + GIM_TRIANGLE_CONTACT_DATA * contact_data) +{ + //Cache variables for triangle intersection + GUINT32 _max_candidates[MAX_TRI_CLIPPING]; + vec3f _temp_clip[MAX_TRI_CLIPPING]; + GUINT32 _temp_clip_count = 0; + vec3f _temp_clip2[MAX_TRI_CLIPPING]; + GUINT32 _temp_clip_count2 = 0; + vec3f clipped_points2[MAX_TRI_CLIPPING]; + vec3f deep_points2[MAX_TRI_CLIPPING]; + vec3f clipped_points1[MAX_TRI_CLIPPING]; + vec3f deep_points1[MAX_TRI_CLIPPING]; + + + + //State variabnles + GUINT32 mostdir=0; + GUINT32 clipped2_count=0; + + //Clip tri2 by tri1 edges + + CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri2->m_vertices,(&tri1->m_planes.m_planes[1]), clipped_points2, clipped2_count); + + if(clipped2_count == 0 ) + { + return 0;//Reject + } + + //find most deep interval face1 + GUINT32 deep2_count=0; + + GREAL maxdeep; + + MOST_DEEP_POINTS((tri1->m_planes.m_planes[0]), clipped_points2, clipped2_count, deep_points2, deep2_count, maxdeep); + if(deep2_count==0) + { +// *perror = 0.0f; + return 0;//Reject + } + + //Normal pointing to triangle1 + VEC_SCALE(contact_data->m_separating_normal,-1.0f,(tri1->m_planes.m_planes[0])); + + + //Clip tri1 by tri2 edges + + GUINT32 clipped1_count=0; + + CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri1->m_vertices,(&tri2->m_planes.m_planes[1]), clipped_points1, clipped1_count); + + if(clipped2_count == 0 ) + { +// *perror = 0.0f; + return 0;//Reject + } + + + //find interval face2 + GUINT32 deep1_count=0; + + GREAL dist; + + MOST_DEEP_POINTS((tri2->m_planes.m_planes[0]), clipped_points1, clipped1_count, deep_points1, deep1_count, dist); + + if(deep1_count==0) + { +// *perror = 0.0f; + return 0; + } + + if(distm_separating_normal,(tri2->m_planes.m_planes[0])); + } + //set deep + contact_data->m_penetration_depth = maxdeep; + + ////check most dir for contacts + if(mostdir==0) + { + contact_data->m_point_count = deep2_count; + for(mostdir=0;mostdirm_points[mostdir] ,deep_points2[mostdir]); + } + } + else + { + contact_data->m_point_count = deep1_count; + for(mostdir=0;mostdirm_points[mostdir] ,deep_points1[mostdir]); + } + } + return 1; +} + + + +//! Finds the contact points from a collision of two triangles +/*! +Returns the contact points, the penetration depth and the separating normal of the collision +between two triangles. The normal is pointing toward triangle 1 from triangle 2 +*/ +int gim_triangle_triangle_collision( + GIM_TRIANGLE_DATA *tri1, + GIM_TRIANGLE_DATA *tri2, + GIM_TRIANGLE_CONTACT_DATA * contact_data) +{ + vec3f _distances; + char out_of_face=0; + + CLASSIFY_TRI_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face); + if(out_of_face==1) return 0; + + CLASSIFY_TRI_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face); + if(out_of_face==1) return 0; + + return _gim_triangle_triangle_collision(tri1,tri2,contact_data); +} + +//! Trimesh Trimesh Collisions +/*! + +In each contact +
    +
  • m_handle1 points to trimesh1. +
  • m_handle2 points to trimesh2. +
  • m_feature1 Is a triangle index of trimesh1. +
  • m_feature2 Is a triangle index of trimesh2. +
+ +\param trimesh1 Collider +\param trimesh2 Collidee +\param contacts A GIM_CONTACT array. Must be initialized +*/ +void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts) +{ + contacts->m_size = 0; + GDYNAMIC_ARRAY collision_pairs; + GIM_CREATE_PAIR_SET(collision_pairs) + + gim_aabbset_bipartite_intersections(&trimesh1->m_aabbset,&trimesh2->m_aabbset,&collision_pairs); + + if(collision_pairs.m_size==0) + { + GIM_DYNARRAY_DESTROY(collision_pairs); + return; //no collisioin + } + + //Locks meshes + gim_trimesh_locks_work_data(trimesh1); + gim_trimesh_locks_work_data(trimesh2); + + + //pair pointer + GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs); + //dummy contacts + GDYNAMIC_ARRAY dummycontacts; + GIM_CREATE_CONTACT_LIST(dummycontacts); + + //Auxiliary triangle data + GIM_TRIANGLE_CONTACT_DATA tri_contact_data; + GIM_TRIANGLE_DATA tri1data,tri2data; + + + GUINT32 i, ti1,ti2,ci; + int colresult; + for (i=0;im_size = 0; + char classify; + PLANE_CLASSIFY_BOX(plane,trimesh->m_aabbset.m_global_bound,classify); + if(classify>1) return; // in front of plane + + //Locks mesh + gim_trimesh_locks_work_data(trimesh); + //Get vertices + GUINT32 i, vertcount = trimesh->m_transformed_vertex_buffer.m_element_count; + vec3f * vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); + + GREAL dist; + vec4f * result_contact; + + for (i=0;i