1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
|
/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
/*
geom transform
*/
#include <ode/collision.h>
#include <ode/rotation.h>
#include "config.h"
#include "matrix.h"
#include "odemath.h"
#include "collision_transform.h"
#include "collision_util.h"
#ifdef _MSC_VER
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
#endif
//****************************************************************************
// dxGeomTransform class
struct dxGeomTransform : public dxGeom {
dxGeom *obj; // object that is being transformed
int cleanup; // 1 to destroy obj when destroyed
int infomode; // 1 to put Tx geom in dContactGeom g1
// cached final object transform (body tx + relative tx). this is set by
// computeAABB(), and it is valid while the AABB is valid.
dxPosR transform_posr;
dxGeomTransform (dSpaceID space);
~dxGeomTransform();
void computeAABB();
void computeFinalTx();
};
/*
void RunMe()
{
printf("sizeof body = %i\n", sizeof(dxBody));
printf("sizeof geom = %i\n", sizeof(dxGeom));
printf("sizeof geomtransform = %i\n", sizeof(dxGeomTransform));
printf("sizeof posr = %i\n", sizeof(dxPosR));
}
*/
dxGeomTransform::dxGeomTransform (dSpaceID space) : dxGeom (space,1)
{
type = dGeomTransformClass;
obj = 0;
cleanup = 0;
infomode = 0;
dSetZero (transform_posr.pos,4);
dRSetIdentity (transform_posr.R);
}
dxGeomTransform::~dxGeomTransform()
{
if (obj && cleanup) delete obj;
}
void dxGeomTransform::computeAABB()
{
if (!obj) {
dSetZero (aabb,6);
return;
}
// backup the relative pos and R pointers of the encapsulated geom object
dxPosR* posr_bak = obj->final_posr;
// compute temporary pos and R for the encapsulated geom object
computeFinalTx();
obj->final_posr = &transform_posr;
// compute the AABB
obj->computeAABB();
memcpy (aabb,obj->aabb,6*sizeof(dReal));
// restore the pos and R
obj->final_posr = posr_bak;
}
// utility function for dCollideTransform() : compute final pos and R
// for the encapsulated geom object
void dxGeomTransform::computeFinalTx()
{
dMultiply0_331 (transform_posr.pos,final_posr->R,obj->final_posr->pos);
transform_posr.pos[0] += final_posr->pos[0];
transform_posr.pos[1] += final_posr->pos[1];
transform_posr.pos[2] += final_posr->pos[2];
dMultiply0_333 (transform_posr.R,final_posr->R,obj->final_posr->R);
}
//****************************************************************************
// collider function:
// this collides a transformed geom with another geom. the other geom can
// also be a transformed geom, but this case is not handled specially.
int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
{
dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT (o1->type == dGeomTransformClass);
dxGeomTransform *tr = (dxGeomTransform*) o1;
if (!tr->obj) return 0;
dUASSERT (tr->obj->parent_space==0,
"GeomTransform encapsulated object must not be in a space");
dUASSERT (tr->obj->body==0,
"GeomTransform encapsulated object must not be attached "
"to a body");
// backup the relative pos and R pointers of the encapsulated geom object,
// and the body pointer
dxPosR *posr_bak = tr->obj->final_posr;
dxBody *bodybak = tr->obj->body;
// compute temporary pos and R for the encapsulated geom object.
// note that final_pos and final_R are valid if no GEOM_AABB_BAD flag,
// because computeFinalTx() will have already been called in
// dxGeomTransform::computeAABB()
if (tr->gflags & GEOM_AABB_BAD) tr->computeFinalTx();
tr->obj->final_posr = &tr->transform_posr;
tr->obj->body = o1->body;
// do the collision
int n = dCollide (tr->obj,o2,flags,contact,skip);
// if required, adjust the 'g1' values in the generated contacts so that
// thay indicated the GeomTransform object instead of the encapsulated
// object.
if (tr->infomode) {
for (int i=0; i<n; i++) {
dContactGeom *c = CONTACT(contact,skip*i);
c->g1 = o1;
}
}
// restore the pos, R and body
tr->obj->final_posr = posr_bak;
tr->obj->body = bodybak;
return n;
}
//****************************************************************************
// public API
dGeomID dCreateGeomTransform (dSpaceID space)
{
return new dxGeomTransform (space);
}
void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
if (tr->obj && tr->cleanup) delete tr->obj;
tr->obj = obj;
}
dGeomID dGeomTransformGetGeom (dGeomID g)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
return tr->obj;
}
void dGeomTransformSetCleanup (dGeomID g, int mode)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
tr->cleanup = mode;
}
int dGeomTransformGetCleanup (dGeomID g)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
return tr->cleanup;
}
void dGeomTransformSetInfo (dGeomID g, int mode)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
tr->infomode = mode;
}
int dGeomTransformGetInfo (dGeomID g)
{
dUASSERT (g && g->type == dGeomTransformClass,
"argument not a geom transform");
dxGeomTransform *tr = (dxGeomTransform*) g;
return tr->infomode;
}
|
