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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 code by Erwin de Vries.
#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_trimesh_internal.h"
#if dTRIMESH_OPCODE
int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
dIASSERT (Stride >= (int)sizeof(dContactGeom));
dIASSERT (g1->type == dTriMeshClass);
dIASSERT (RayGeom->type == dRayClass);
dIASSERT ((Flags & NUMC_MASK) >= 1);
dxTriMesh* TriMesh = (dxTriMesh*)g1;
const unsigned uiTLSKind = TriMesh->getParentSpaceTLSKind();
dIASSERT(uiTLSKind == RayGeom->getParentSpaceTLSKind()); // The colliding spaces must use matching cleanup method
TrimeshCollidersCache *pccColliderCache = GetTrimeshCollidersCache(uiTLSKind);
RayCollider& Collider = pccColliderCache->m_RayCollider;
dReal Length = dGeomRayGetLength(RayGeom);
int FirstContact = dGeomRayGetFirstContact(RayGeom);
int BackfaceCull = dGeomRayGetBackfaceCull(RayGeom);
int ClosestHit = dGeomRayGetClosestHit(RayGeom);
Collider.SetFirstContact(FirstContact != 0);
Collider.SetClosestHit(ClosestHit != 0);
Collider.SetCulling(BackfaceCull != 0);
Collider.SetMaxDist(Length);
const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
Matrix4x4 MeshMatrix;
const dVector3 ZeroVector3 = { REAL(0.0), };
MakeMatrix(ZeroVector3, TLRotation, MeshMatrix);
dVector3 Origin, Direction;
dGeomRayGet(RayGeom, Origin, Direction);
dVector3 OffsetOrigin;
dSubtractVectors3(OffsetOrigin, Origin, TLPosition);
/* Make Ray */
Ray WorldRay;
WorldRay.mOrig.Set(OffsetOrigin[0], OffsetOrigin[1], OffsetOrigin[2]);
WorldRay.mDir.Set(Direction[0], Direction[1], Direction[2]);
/* Intersect */
int TriCount = 0;
if (Collider.Collide(WorldRay, TriMesh->retrieveMeshBVTreeRef(), &MeshMatrix)) {
TriCount = pccColliderCache->m_Faces.GetNbFaces();
}
if (TriCount == 0) {
return 0;
}
const CollisionFace* Faces = pccColliderCache->m_Faces.GetFaces();
int OutTriCount = 0;
for (int i = 0; i < TriCount; i++) {
if (TriMesh->m_RayCallback == null ||
TriMesh->m_RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
Faces[i].mU, Faces[i].mV)) {
const int& TriIndex = Faces[i].mFaceID;
if (!TriMesh->invokeCallback(RayGeom, TriIndex)) {
continue;
}
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
dVector3 dv[3];
TriMesh->fetchMeshTriangle(dv, TriIndex, TLPosition, TLRotation);
dVector3 vu;
vu[0] = dv[1][0] - dv[0][0];
vu[1] = dv[1][1] - dv[0][1];
vu[2] = dv[1][2] - dv[0][2];
vu[3] = REAL(0.0);
dVector3 vv;
vv[0] = dv[2][0] - dv[0][0];
vv[1] = dv[2][1] - dv[0][1];
vv[2] = dv[2][2] - dv[0][2];
vv[3] = REAL(0.0);
dCalcVectorCross3(Contact->normal, vv, vu); // Reversed
// Even though all triangles might be initially valid,
// a triangle may degenerate into a segment after applying
// space transformation.
if (dSafeNormalize3(Contact->normal))
{
// No sense to save on single type conversion in algorithm of this size.
// If there would be a custom typedef for distance type it could be used
// instead of dReal. However using float directly is the loss of abstraction
// and possible loss of precision in future.
/*float*/ dReal T = Faces[i].mDistance;
Contact->pos[0] = Origin[0] + (Direction[0] * T);
Contact->pos[1] = Origin[1] + (Direction[1] * T);
Contact->pos[2] = Origin[2] + (Direction[2] * T);
Contact->pos[3] = REAL(0.0);
Contact->depth = T;
Contact->g1 = TriMesh;
Contact->g2 = RayGeom;
Contact->side1 = TriIndex;
Contact->side2 = -1;
OutTriCount++;
// Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
if (OutTriCount >= (Flags & NUMC_MASK)) {
break;
}
}
}
}
return OutTriCount;
}
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride)
{
dIASSERT (Stride >= (int)sizeof(dContactGeom));
dIASSERT (g1->type == dTriMeshClass);
dIASSERT (RayGeom->type == dRayClass);
dIASSERT ((Flags & NUMC_MASK) >= 1);
dxTriMesh* TriMesh = (dxTriMesh*)g1;
dReal Length = dGeomRayGetLength(RayGeom);
int FirstContact = dGeomRayGetFirstContact(RayGeom);
int BackfaceCull = dGeomRayGetBackfaceCull(RayGeom);
int ClosestHit = dGeomRayGetClosestHit(RayGeom);
dVector3 Origin, Direction;
dGeomRayGet(RayGeom, Origin, Direction);
char intersect=0;
GIM_TRIANGLE_RAY_CONTACT_DATA contact_data;
if(ClosestHit)
{
intersect = gim_trimesh_ray_closest_collisionODE(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
}
else
{
intersect = gim_trimesh_ray_collisionODE(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
}
if(intersect == 0)
{
return 0;
}
if(!TriMesh->m_RayCallback ||
TriMesh->m_RayCallback(TriMesh, RayGeom, contact_data.m_face_id, contact_data.u , contact_data.v))
{
dContactGeom* Contact = &( Contacts[ 0 ] );
VEC_COPY(Contact->pos,contact_data.m_point);
VEC_COPY(Contact->normal,contact_data.m_normal);
Contact->depth = contact_data.tparam;
Contact->g1 = TriMesh;
Contact->g2 = RayGeom;
Contact->side1 = contact_data.m_face_id;
Contact->side2 = -1;
return 1;
}
return 0;
}
#endif // dTRIMESH_GIMPACT
#endif // dTRIMESH_ENABLED
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