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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
// TriMesh - Plane collider by David Walters, July 2006
#include <ode/collision.h>
#include <ode/rotation.h>
#include "config.h"
#include "matrix.h"
#include "odemath.h"
#if dTRIMESH_ENABLED
#include "collision_util.h"
#include "collision_std.h"
#include "collision_trimesh_internal.h"
#if dTRIMESH_OPCODE
int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip )
{
dIASSERT( skip >= (int)sizeof( dContactGeom ) );
dIASSERT( o1->type == dTriMeshClass );
dIASSERT( o2->type == dPlaneClass );
dIASSERT ((flags & NUMC_MASK) >= 1);
// Alias pointers to the plane and trimesh
dxTriMesh* trimesh = (dxTriMesh*)( o1 );
dxPlane* plane = (dxPlane*)( o2 );
int contact_count = 0;
// Cache the maximum contact count.
const int contact_max = ( flags & NUMC_MASK );
// Cache trimesh position and rotation.
const dVector3& trimesh_pos = *(const dVector3*)dGeomGetPosition( trimesh );
const dMatrix3& trimesh_R = *(const dMatrix3*)dGeomGetRotation( trimesh );
//
// For all triangles.
//
VertexPointersEx VPE;
VertexPointers &VP = VPE.vp;
ConversionArea VC;
dReal alpha;
dVector3 vertex;
#if !defined(dSINGLE) || 1
dVector3 int_vertex; // Intermediate vertex for double precision mode.
#endif // dSINGLE
const unsigned uiTLSKind = trimesh->getParentSpaceTLSKind();
dIASSERT(uiTLSKind == plane->getParentSpaceTLSKind()); // The colliding spaces must use matching cleanup method
TrimeshCollidersCache *pccColliderCache = GetTrimeshCollidersCache(uiTLSKind);
VertexUseCache &vertex_use_cache = pccColliderCache->m_VertexUses;
// Reallocate vertex use cache if necessary
const dxTriMeshData *meshData = trimesh->retrieveMeshData();
const int vertex_count = meshData->m_Mesh.GetNbVertices();
const bool cache_status = vertex_use_cache.resizeAndResetVertexUSEDFlags(vertex_count);
// Cache the triangle count.
const int tri_count = meshData->m_Mesh.GetNbTriangles();
// For each triangle
for ( int t = 0; t < tri_count; ++t )
{
// Get triangle, which should also use callback.
bool ex_avail = meshData->m_Mesh.GetExTriangle( VPE, t, VC);
// For each vertex.
for ( int v = 0; v < 3; ++v )
{
// point already used ?
if (cache_status && ex_avail)
{
unsigned VIndex = VPE.Index[v];
if (vertex_use_cache.getVertexUSEDFlag(VIndex))
continue;
// mark this point as used
vertex_use_cache.setVertexUSEDFlag(VIndex);
}
//
// Get Vertex
//
#if defined(dSINGLE) && 0 // Always assign via intermediate array as otherwise it is an incapsulation violation
dMultiply0_331( vertex, trimesh_R, (float*)( VP.Vertex[ v ] ) );
#else // dDOUBLE || 1
// OPCODE data is in single precision format.
int_vertex[ 0 ] = VP.Vertex[ v ]->x;
int_vertex[ 1 ] = VP.Vertex[ v ]->y;
int_vertex[ 2 ] = VP.Vertex[ v ]->z;
dMultiply0_331( vertex, trimesh_R, int_vertex );
#endif // dSINGLE/dDOUBLE
vertex[ 0 ] += trimesh_pos[ 0 ];
vertex[ 1 ] += trimesh_pos[ 1 ];
vertex[ 2 ] += trimesh_pos[ 2 ];
//
// Collision?
//
// If alpha < 0 then point is if front of plane. i.e. no contact
// If alpha = 0 then the point is on the plane
alpha = plane->p[ 3 ] - dCalcVectorDot3( plane->p, vertex );
// If alpha > 0 the point is behind the plane. CONTACT!
if ( alpha > 0 )
{
// Alias the contact
dContactGeom* contact = SAFECONTACT( flags, contacts, contact_count, skip );
contact->pos[ 0 ] = vertex[ 0 ];
contact->pos[ 1 ] = vertex[ 1 ];
contact->pos[ 2 ] = vertex[ 2 ];
contact->normal[ 0 ] = plane->p[ 0 ];
contact->normal[ 1 ] = plane->p[ 1 ];
contact->normal[ 2 ] = plane->p[ 2 ];
contact->depth = alpha;
contact->g1 = trimesh;
contact->g2 = plane;
contact->side1 = t;
contact->side2 = -1;
++contact_count;
// All contact slots are full?
if ( contact_count >= contact_max )
return contact_count; // <=== STOP HERE
}
}
}
// Return contact count.
return contact_count;
}
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
#include "gimpact_contact_export_helper.h"
#include "gimpact_plane_contact_accessor.h"
int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip )
{
dIASSERT( skip >= (int)sizeof( dContactGeom ) );
dIASSERT( o1->type == dTriMeshClass );
dIASSERT( o2->type == dPlaneClass );
dIASSERT ((flags & NUMC_MASK) >= 1);
// Alias pointers to the plane and trimesh
dxTriMesh* trimesh = (dxTriMesh*)( o1 );
dVector4 plane;
dGeomPlaneGetParams(o2, plane);
o1 -> recomputeAABB();
o2 -> recomputeAABB();
//Find collision
GDYNAMIC_ARRAY collision_result;
GIM_CREATE_TRIMESHPLANE_CONTACTS(collision_result);
gim_trimesh_plane_collisionODE(&trimesh->m_collision_trimesh,plane,&collision_result);
if(collision_result.m_size == 0 )
{
GIM_DYNARRAY_DESTROY(collision_result);
return 0;
}
vec4f * planecontact_results = GIM_DYNARRAY_POINTER(vec4f, collision_result);
unsigned int contactcount = collision_result.m_size;
dxPlaneContactAccessor contactaccessor(planecontact_results, plane, o1, o2);
contactcount = dxGImpactContactsExportHelper::ExportMaxDepthGImpactContacts(contactaccessor, contactcount, flags, contacts, skip);
GIM_DYNARRAY_DESTROY(collision_result);
return (int)contactcount;
}
#endif // dTRIMESH_GIMPACT
#endif // dTRIMESH_ENABLED
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