Converted Opcode and Ice into unix newlines format

1 files changed, 726 insertions, 726 deletions

diff --git a/Opcode/OPC_SphereCollider.cpp b/Opcode/OPC_SphereCollider.cpp
index bb6dfc3..32af6e6 100644
--- a/Opcode/OPC_SphereCollider.cpp
+++ b/Opcode/OPC_SphereCollider.cpp
@@ -1,726 +1,726 @@
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/*

- *	OPCODE - Optimized Collision Detection

- *	Copyright (C) 2001 Pierre Terdiman

- *	Homepage: http://www.codercorner.com/Opcode.htm

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Contains code for a sphere collider.

- *	\file		OPC_SphereCollider.cpp

- *	\author		Pierre Terdiman

- *	\date		June, 2, 2001

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Contains a sphere-vs-tree collider.

- *	This class performs a collision test between a sphere and an AABB tree. You can use this to do a standard player vs world collision,

- *	in a Nettle/Telemachos way. It doesn't suffer from all reported bugs in those two classic codes - the "new" one by Paul Nettle is a

- *	debuggued version I think. Collision response can be driven by reported collision data - it works extremely well for me. In sake of

- *	efficiency, all meshes (that is, all AABB trees) should of course also be kept in an extra hierarchical structure (octree, whatever).

- *

- *	\class		SphereCollider

- *	\author		Pierre Terdiman

- *	\version	1.3

- *	\date		June, 2, 2001

-*/

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-// Precompiled Header

-#include "StdAfx.h"

-

-using namespace Opcode;

-

-#include "OPC_SphereAABBOverlap.h"

-#include "OPC_SphereTriOverlap.h"

-

-#define SET_CONTACT(prim_index, flag)									\

-	/* Set contact status */											\

-	mFlags |= flag;														\

-	mTouchedPrimitives->Add(prim_index);

-

-//! Sphere-triangle overlap test

-#define SPHERE_PRIM(prim_index, flag)									\

-	/* Request vertices from the app */									\

-	VertexPointers VP;	mIMesh->GetTriangle(VP, prim_index);			\

-																		\

-	/* Perform sphere-tri overlap test */								\

-	if(SphereTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2]))	\

-	{																	\

-		SET_CONTACT(prim_index, flag)									\

-	}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Constructor.

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-SphereCollider::SphereCollider()

-{

-	mCenter.Zero();

-	mRadius2 = 0.0f;

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Destructor.

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-SphereCollider::~SphereCollider()

-{

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Generic collision query for generic OPCODE models. After the call, access the results:

- *	- with GetContactStatus()

- *	- with GetNbTouchedPrimitives()

- *	- with GetTouchedPrimitives()

- *

- *	\param		cache		[in/out] a sphere cache

- *	\param		sphere		[in] collision sphere in local space

- *	\param		model		[in] Opcode model to collide with

- *	\param		worlds		[in] sphere's world matrix, or null

- *	\param		worldm		[in] model's world matrix, or null

- *	\return		true if success

- *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds, const Matrix4x4* worldm)

-{

-	// Checkings

-	if(!Setup(&model))	return false;

-

-	// Init collision query

-	if(InitQuery(cache, sphere, worlds, worldm))	return true;

-

-	if(!model.HasLeafNodes())

-	{

-		if(model.IsQuantized())

-		{

-			const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();

-

-			// Setup dequantization coeffs

-			mCenterCoeff	= Tree->mCenterCoeff;

-			mExtentsCoeff	= Tree->mExtentsCoeff;

-

-			// Perform collision query

-			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());

-			else						_Collide(Tree->GetNodes());

-		}

-		else

-		{

-			const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();

-

-			// Perform collision query

-			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());

-			else						_Collide(Tree->GetNodes());

-		}

-	}

-	else

-	{

-		if(model.IsQuantized())

-		{

-			const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();

-

-			// Setup dequantization coeffs

-			mCenterCoeff	= Tree->mCenterCoeff;

-			mExtentsCoeff	= Tree->mExtentsCoeff;

-

-			// Perform collision query

-			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());

-			else						_Collide(Tree->GetNodes());

-		}

-		else

-		{

-			const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();

-

-			// Perform collision query

-			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());

-			else						_Collide(Tree->GetNodes());

-		}

-	}

-	return true;

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Initializes a collision query :

- *	- reset stats & contact status

- *	- setup matrices

- *	- check temporal coherence

- *

- *	\param		cache		[in/out] a sphere cache

- *	\param		sphere		[in] sphere in local space

- *	\param		worlds		[in] sphere's world matrix, or null

- *	\param		worldm		[in] model's world matrix, or null

- *	\return		TRUE if we can return immediately

- *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-BOOL SphereCollider::InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds, const Matrix4x4* worldm)

-{

-	// 1) Call the base method

-	VolumeCollider::InitQuery();

-

-	// 2) Compute sphere in model space:

-	// - Precompute R^2

-	mRadius2 = sphere.mRadius * sphere.mRadius;

-	// - Compute center position

-	mCenter = sphere.mCenter;

-	// -> to world space

-	if(worlds)	mCenter *= *worlds;

-	// -> to model space

-	if(worldm)

-	{

-		// Invert model matrix

-		Matrix4x4 InvWorldM;

-		InvertPRMatrix(InvWorldM, *worldm);

-

-		mCenter *= InvWorldM;

-	}

-

-	// 3) Setup destination pointer

-	mTouchedPrimitives = &cache.TouchedPrimitives;

-

-	// 4) Special case: 1-triangle meshes [Opcode 1.3]

-	if(mCurrentModel && mCurrentModel->HasSingleNode())

-	{

-		if(!SkipPrimitiveTests())

-		{

-			// We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.

-			mTouchedPrimitives->Reset();

-

-			// Perform overlap test between the unique triangle and the sphere (and set contact status if needed)

-			SPHERE_PRIM(udword(0), OPC_CONTACT)

-

-			// Return immediately regardless of status

-			return TRUE;

-		}

-	}

-

-	// 5) Check temporal coherence :

-	if(TemporalCoherenceEnabled())

-	{

-		// Here we use temporal coherence

-		// => check results from previous frame before performing the collision query

-		if(FirstContactEnabled())

-		{

-			// We're only interested in the first contact found => test the unique previously touched face

-			if(mTouchedPrimitives->GetNbEntries())

-			{

-				// Get index of previously touched face = the first entry in the array

-				udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0);

-

-				// Then reset the array:

-				// - if the overlap test below is successful, the index we'll get added back anyway

-				// - if it isn't, then the array should be reset anyway for the normal query

-				mTouchedPrimitives->Reset();

-

-				// Perform overlap test between the cached triangle and the sphere (and set contact status if needed)

-				SPHERE_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)

-

-				// Return immediately if possible

-				if(GetContactStatus())	return TRUE;

-			}

-			// else no face has been touched during previous query

-			// => we'll have to perform a normal query

-		}

-		else

-		{

-			// We're interested in all contacts =>test the new real sphere N(ew) against the previous fat sphere P(revious):

-			float r = sqrtf(cache.FatRadius2) - sphere.mRadius;

-			if(IsCacheValid(cache) && cache.Center.SquareDistance(mCenter) < r*r)

-			{

-				// - if N is included in P, return previous list

-				// => we simply leave the list (mTouchedFaces) unchanged

-

-				// Set contact status if needed

-				if(mTouchedPrimitives->GetNbEntries())	mFlags |= OPC_TEMPORAL_CONTACT;

-

-				// In any case we don't need to do a query

-				return TRUE;

-			}

-			else

-			{

-				// - else do the query using a fat N

-

-				// Reset cache since we'll about to perform a real query

-				mTouchedPrimitives->Reset();

-

-				// Make a fat sphere so that coherence will work for subsequent frames

-				mRadius2 *= cache.FatCoeff;

-//				mRadius2 = (sphere.mRadius * cache.FatCoeff)*(sphere.mRadius * cache.FatCoeff);

-

-				// Update cache with query data (signature for cached faces)

-				cache.Center = mCenter;

-				cache.FatRadius2 = mRadius2;

-			}

-		}

-	}

-	else

-	{

-		// Here we don't use temporal coherence => do a normal query

-		mTouchedPrimitives->Reset();

-	}

-

-	return FALSE;

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Collision query for vanilla AABB trees.

- *	\param		cache		[in/out] a sphere cache

- *	\param		sphere		[in] collision sphere in world space

- *	\param		tree		[in] AABB tree

- *	\return		true if success

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree)

-{

-	// This is typically called for a scene tree, full of -AABBs-, not full of triangles.

-	// So we don't really have "primitives" to deal with. Hence it doesn't work with

-	// "FirstContact" + "TemporalCoherence".

-	ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) );

-

-	// Checkings

-	if(!tree)	return false;

-

-	// Init collision query

-	if(InitQuery(cache, sphere))	return true;

-

-	// Perform collision query

-	_Collide(tree);

-

-	return true;

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Checks the sphere completely contains the box. In which case we can end the query sooner.

- *	\param		bc	[in] box center

- *	\param		be	[in] box extents

- *	\return		true if the sphere contains the whole box

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-inline_ BOOL SphereCollider::SphereContainsBox(const IcePoint& bc, const IcePoint& be)

-{

-	// I assume if all 8 box vertices are inside the sphere, so does the whole box.

-	// Sounds ok but maybe there's a better way?

-	IcePoint p;

-	p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z+be.z;	if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-	p.x=bc.x+be.x; p.y=bc.y-be.y;					if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-	p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z-be.z;	if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-	p.x=bc.x+be.x; p.y=bc.y-be.y;					if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;

-

-	return TRUE;

-}

-

-#define TEST_BOX_IN_SPHERE(center, extents)	\

-	if(SphereContainsBox(center, extents))	\

-	{										\

-		/* Set contact status */			\

-		mFlags |= OPC_CONTACT;				\

-		_Dump(node);						\

-		return;								\

-	}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for normal AABB trees.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_Collide(const AABBCollisionNode* node)

-{

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;

-

-	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)

-

-	if(node->IsLeaf())

-	{

-		SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT)

-	}

-	else

-	{

-		_Collide(node->GetPos());

-

-		if(ContactFound()) return;

-

-		_Collide(node->GetNeg());

-	}

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for normal AABB trees, without primitive tests.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)

-{

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;

-

-	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)

-

-	if(node->IsLeaf())

-	{

-		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)

-	}

-	else

-	{

-		_CollideNoPrimitiveTest(node->GetPos());

-

-		if(ContactFound()) return;

-

-		_CollideNoPrimitiveTest(node->GetNeg());

-	}

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for quantized AABB trees.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_Collide(const AABBQuantizedNode* node)

-{

-	// Dequantize box

-	const QuantizedAABB& Box = node->mAABB;

-	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);

-	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

-

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(Center, Extents))	return;

-

-	TEST_BOX_IN_SPHERE(Center, Extents)

-

-	if(node->IsLeaf())

-	{

-		SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT)

-	}

-	else

-	{

-		_Collide(node->GetPos());

-

-		if(ContactFound()) return;

-

-		_Collide(node->GetNeg());

-	}

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for quantized AABB trees, without primitive tests.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node)

-{

-	// Dequantize box

-	const QuantizedAABB& Box = node->mAABB;

-	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);

-	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

-

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(Center, Extents))	return;

-

-	TEST_BOX_IN_SPHERE(Center, Extents)

-

-	if(node->IsLeaf())

-	{

-		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)

-	}

-	else

-	{

-		_CollideNoPrimitiveTest(node->GetPos());

-

-		if(ContactFound()) return;

-

-		_CollideNoPrimitiveTest(node->GetNeg());

-	}

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for no-leaf AABB trees.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_Collide(const AABBNoLeafNode* node)

-{

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;

-

-	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)

-

-	if(node->HasPosLeaf())	{ SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }

-	else					_Collide(node->GetPos());

-

-	if(ContactFound()) return;

-

-	if(node->HasNegLeaf())	{ SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }

-	else					_Collide(node->GetNeg());

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for no-leaf AABB trees, without primitive tests.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)

-{

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;

-

-	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)

-

-	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }

-	else					_CollideNoPrimitiveTest(node->GetPos());

-

-	if(ContactFound()) return;

-

-	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }

-	else					_CollideNoPrimitiveTest(node->GetNeg());

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for quantized no-leaf AABB trees.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_Collide(const AABBQuantizedNoLeafNode* node)

-{

-	// Dequantize box

-	const QuantizedAABB& Box = node->mAABB;

-	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);

-	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

-

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(Center, Extents))	return;

-

-	TEST_BOX_IN_SPHERE(Center, Extents)

-

-	if(node->HasPosLeaf())	{ SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }

-	else					_Collide(node->GetPos());

-

-	if(ContactFound()) return;

-

-	if(node->HasNegLeaf())	{ SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }

-	else					_Collide(node->GetNeg());

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for quantized no-leaf AABB trees, without primitive tests.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node)

-{

-	// Dequantize box

-	const QuantizedAABB& Box = node->mAABB;

-	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);

-	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

-

-	// Perform Sphere-AABB overlap test

-	if(!SphereAABBOverlap(Center, Extents))	return;

-

-	TEST_BOX_IN_SPHERE(Center, Extents)

-

-	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }

-	else					_CollideNoPrimitiveTest(node->GetPos());

-

-	if(ContactFound()) return;

-

-	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }

-	else					_CollideNoPrimitiveTest(node->GetNeg());

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Recursive collision query for vanilla AABB trees.

- *	\param		node	[in] current collision node

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-void SphereCollider::_Collide(const AABBTreeNode* node)

-{

-	// Perform Sphere-AABB overlap test

-	IcePoint Center, Extents;

-	node->GetAABB()->GetCenter(Center);

-	node->GetAABB()->GetExtents(Extents);

-	if(!SphereAABBOverlap(Center, Extents))	return;

-

-	if(node->IsLeaf() || SphereContainsBox(Center, Extents))

-	{

-		mFlags |= OPC_CONTACT;

-		mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());

-	}

-	else

-	{

-		_Collide(node->GetPos());

-		_Collide(node->GetNeg());

-	}

-}

-

-

-

-

-

-

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Constructor.

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-HybridSphereCollider::HybridSphereCollider()

-{

-}

-

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-/**

- *	Destructor.

- */

-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-HybridSphereCollider::~HybridSphereCollider()

-{

-}

-

-bool HybridSphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds, const Matrix4x4* worldm)

-{

-	// We don't want primitive tests here!

-	mFlags |= OPC_NO_PRIMITIVE_TESTS;

-

-	// Checkings

-	if(!Setup(&model))	return false;

-

-	// Init collision query

-	if(InitQuery(cache, sphere, worlds, worldm))	return true;

-

-	// Special case for 1-leaf trees

-	if(mCurrentModel && mCurrentModel->HasSingleNode())

-	{

-		// Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles

-		udword Nb = mIMesh->GetNbTriangles();

-

-		// Loop through all triangles

-		for(udword i=0;i<Nb;i++)

-		{

-			SPHERE_PRIM(i, OPC_CONTACT)

-		}

-		return true;

-	}

-

-	// Override destination array since we're only going to get leaf boxes here

-	mTouchedBoxes.Reset();

-	mTouchedPrimitives = &mTouchedBoxes;

-

-	// Now, do the actual query against leaf boxes

-	if(!model.HasLeafNodes())

-	{

-		if(model.IsQuantized())

-		{

-			const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();

-

-			// Setup dequantization coeffs

-			mCenterCoeff	= Tree->mCenterCoeff;

-			mExtentsCoeff	= Tree->mExtentsCoeff;

-

-			// Perform collision query - we don't want primitive tests here!

-			_CollideNoPrimitiveTest(Tree->GetNodes());

-		}

-		else

-		{

-			const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();

-

-			// Perform collision query - we don't want primitive tests here!

-			_CollideNoPrimitiveTest(Tree->GetNodes());

-		}

-	}

-	else

-	{

-		if(model.IsQuantized())

-		{

-			const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();

-

-			// Setup dequantization coeffs

-			mCenterCoeff	= Tree->mCenterCoeff;

-			mExtentsCoeff	= Tree->mExtentsCoeff;

-

-			// Perform collision query - we don't want primitive tests here!

-			_CollideNoPrimitiveTest(Tree->GetNodes());

-		}

-		else

-		{

-			const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();

-

-			// Perform collision query - we don't want primitive tests here!

-			_CollideNoPrimitiveTest(Tree->GetNodes());

-		}

-	}

-

-	// We only have a list of boxes so far

-	if(GetContactStatus())

-	{

-		// Reset contact status, since it currently only reflects collisions with leaf boxes

-		Collider::InitQuery();

-

-		// Change dest container so that we can use built-in overlap tests and get collided primitives

-		cache.TouchedPrimitives.Reset();

-		mTouchedPrimitives = &cache.TouchedPrimitives;

-

-		// Read touched leaf boxes

-		udword Nb = mTouchedBoxes.GetNbEntries();

-		const udword* Touched = mTouchedBoxes.GetEntries();

-

-		const LeafTriangles* LT = model.GetLeafTriangles();

-		const udword* Indices = model.GetIndices();

-

-		// Loop through touched leaves

-		while(Nb--)

-		{

-			const LeafTriangles& CurrentLeaf = LT[*Touched++];

-

-			// Each leaf box has a set of triangles

-			udword NbTris = CurrentLeaf.GetNbTriangles();

-			if(Indices)

-			{

-				const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];

-

-				// Loop through triangles and test each of them

-				while(NbTris--)

-				{

-					udword TriangleIndex = *T++;

-					SPHERE_PRIM(TriangleIndex, OPC_CONTACT)

-				}

-			}

-			else

-			{

-				udword BaseIndex = CurrentLeaf.GetTriangleIndex();

-

-				// Loop through triangles and test each of them

-				while(NbTris--)

-				{

-					udword TriangleIndex = BaseIndex++;

-					SPHERE_PRIM(TriangleIndex, OPC_CONTACT)

-				}

-			}

-		}

-	}

-

-	return true;

-}

+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for a sphere collider.
+ *	\file		OPC_SphereCollider.cpp
+ *	\author		Pierre Terdiman
+ *	\date		June, 2, 2001
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains a sphere-vs-tree collider.
+ *	This class performs a collision test between a sphere and an AABB tree. You can use this to do a standard player vs world collision,
+ *	in a Nettle/Telemachos way. It doesn't suffer from all reported bugs in those two classic codes - the "new" one by Paul Nettle is a
+ *	debuggued version I think. Collision response can be driven by reported collision data - it works extremely well for me. In sake of
+ *	efficiency, all meshes (that is, all AABB trees) should of course also be kept in an extra hierarchical structure (octree, whatever).
+ *
+ *	\class		SphereCollider
+ *	\author		Pierre Terdiman
+ *	\version	1.3
+ *	\date		June, 2, 2001
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "StdAfx.h"
+
+using namespace Opcode;
+
+#include "OPC_SphereAABBOverlap.h"
+#include "OPC_SphereTriOverlap.h"
+
+#define SET_CONTACT(prim_index, flag)									\
+	/* Set contact status */											\
+	mFlags |= flag;														\
+	mTouchedPrimitives->Add(prim_index);
+
+//! Sphere-triangle overlap test
+#define SPHERE_PRIM(prim_index, flag)									\
+	/* Request vertices from the app */									\
+	VertexPointers VP;	mIMesh->GetTriangle(VP, prim_index);			\
+																		\
+	/* Perform sphere-tri overlap test */								\
+	if(SphereTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2]))	\
+	{																	\
+		SET_CONTACT(prim_index, flag)									\
+	}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+SphereCollider::SphereCollider()
+{
+	mCenter.Zero();
+	mRadius2 = 0.0f;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+SphereCollider::~SphereCollider()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Generic collision query for generic OPCODE models. After the call, access the results:
+ *	- with GetContactStatus()
+ *	- with GetNbTouchedPrimitives()
+ *	- with GetTouchedPrimitives()
+ *
+ *	\param		cache		[in/out] a sphere cache
+ *	\param		sphere		[in] collision sphere in local space
+ *	\param		model		[in] Opcode model to collide with
+ *	\param		worlds		[in] sphere's world matrix, or null
+ *	\param		worldm		[in] model's world matrix, or null
+ *	\return		true if success
+ *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds, const Matrix4x4* worldm)
+{
+	// Checkings
+	if(!Setup(&model))	return false;
+
+	// Init collision query
+	if(InitQuery(cache, sphere, worlds, worldm))	return true;
+
+	if(!model.HasLeafNodes())
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
+
+			// Setup dequantization coeffs
+			mCenterCoeff	= Tree->mCenterCoeff;
+			mExtentsCoeff	= Tree->mExtentsCoeff;
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+		else
+		{
+			const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+	}
+	else
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
+
+			// Setup dequantization coeffs
+			mCenterCoeff	= Tree->mCenterCoeff;
+			mExtentsCoeff	= Tree->mExtentsCoeff;
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+		else
+		{
+			const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
+
+			// Perform collision query
+			if(SkipPrimitiveTests())	_CollideNoPrimitiveTest(Tree->GetNodes());
+			else						_Collide(Tree->GetNodes());
+		}
+	}
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Initializes a collision query :
+ *	- reset stats & contact status
+ *	- setup matrices
+ *	- check temporal coherence
+ *
+ *	\param		cache		[in/out] a sphere cache
+ *	\param		sphere		[in] sphere in local space
+ *	\param		worlds		[in] sphere's world matrix, or null
+ *	\param		worldm		[in] model's world matrix, or null
+ *	\return		TRUE if we can return immediately
+ *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+BOOL SphereCollider::InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds, const Matrix4x4* worldm)
+{
+	// 1) Call the base method
+	VolumeCollider::InitQuery();
+
+	// 2) Compute sphere in model space:
+	// - Precompute R^2
+	mRadius2 = sphere.mRadius * sphere.mRadius;
+	// - Compute center position
+	mCenter = sphere.mCenter;
+	// -> to world space
+	if(worlds)	mCenter *= *worlds;
+	// -> to model space
+	if(worldm)
+	{
+		// Invert model matrix
+		Matrix4x4 InvWorldM;
+		InvertPRMatrix(InvWorldM, *worldm);
+
+		mCenter *= InvWorldM;
+	}
+
+	// 3) Setup destination pointer
+	mTouchedPrimitives = &cache.TouchedPrimitives;
+
+	// 4) Special case: 1-triangle meshes [Opcode 1.3]
+	if(mCurrentModel && mCurrentModel->HasSingleNode())
+	{
+		if(!SkipPrimitiveTests())
+		{
+			// We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0.
+			mTouchedPrimitives->Reset();
+
+			// Perform overlap test between the unique triangle and the sphere (and set contact status if needed)
+			SPHERE_PRIM(udword(0), OPC_CONTACT)
+
+			// Return immediately regardless of status
+			return TRUE;
+		}
+	}
+
+	// 5) Check temporal coherence :
+	if(TemporalCoherenceEnabled())
+	{
+		// Here we use temporal coherence
+		// => check results from previous frame before performing the collision query
+		if(FirstContactEnabled())
+		{
+			// We're only interested in the first contact found => test the unique previously touched face
+			if(mTouchedPrimitives->GetNbEntries())
+			{
+				// Get index of previously touched face = the first entry in the array
+				udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0);
+
+				// Then reset the array:
+				// - if the overlap test below is successful, the index we'll get added back anyway
+				// - if it isn't, then the array should be reset anyway for the normal query
+				mTouchedPrimitives->Reset();
+
+				// Perform overlap test between the cached triangle and the sphere (and set contact status if needed)
+				SPHERE_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT)
+
+				// Return immediately if possible
+				if(GetContactStatus())	return TRUE;
+			}
+			// else no face has been touched during previous query
+			// => we'll have to perform a normal query
+		}
+		else
+		{
+			// We're interested in all contacts =>test the new real sphere N(ew) against the previous fat sphere P(revious):
+			float r = sqrtf(cache.FatRadius2) - sphere.mRadius;
+			if(IsCacheValid(cache) && cache.Center.SquareDistance(mCenter) < r*r)
+			{
+				// - if N is included in P, return previous list
+				// => we simply leave the list (mTouchedFaces) unchanged
+
+				// Set contact status if needed
+				if(mTouchedPrimitives->GetNbEntries())	mFlags |= OPC_TEMPORAL_CONTACT;
+
+				// In any case we don't need to do a query
+				return TRUE;
+			}
+			else
+			{
+				// - else do the query using a fat N
+
+				// Reset cache since we'll about to perform a real query
+				mTouchedPrimitives->Reset();
+
+				// Make a fat sphere so that coherence will work for subsequent frames
+				mRadius2 *= cache.FatCoeff;
+//				mRadius2 = (sphere.mRadius * cache.FatCoeff)*(sphere.mRadius * cache.FatCoeff);
+
+				// Update cache with query data (signature for cached faces)
+				cache.Center = mCenter;
+				cache.FatRadius2 = mRadius2;
+			}
+		}
+	}
+	else
+	{
+		// Here we don't use temporal coherence => do a normal query
+		mTouchedPrimitives->Reset();
+	}
+
+	return FALSE;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Collision query for vanilla AABB trees.
+ *	\param		cache		[in/out] a sphere cache
+ *	\param		sphere		[in] collision sphere in world space
+ *	\param		tree		[in] AABB tree
+ *	\return		true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree)
+{
+	// This is typically called for a scene tree, full of -AABBs-, not full of triangles.
+	// So we don't really have "primitives" to deal with. Hence it doesn't work with
+	// "FirstContact" + "TemporalCoherence".
+	ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) );
+
+	// Checkings
+	if(!tree)	return false;
+
+	// Init collision query
+	if(InitQuery(cache, sphere))	return true;
+
+	// Perform collision query
+	_Collide(tree);
+
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Checks the sphere completely contains the box. In which case we can end the query sooner.
+ *	\param		bc	[in] box center
+ *	\param		be	[in] box extents
+ *	\return		true if the sphere contains the whole box
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL SphereCollider::SphereContainsBox(const IcePoint& bc, const IcePoint& be)
+{
+	// I assume if all 8 box vertices are inside the sphere, so does the whole box.
+	// Sounds ok but maybe there's a better way?
+	IcePoint p;
+	p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z+be.z;	if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+	p.x=bc.x+be.x; p.y=bc.y-be.y;					if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+	p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z-be.z;	if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+	p.x=bc.x+be.x; p.y=bc.y-be.y;					if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+	p.x=bc.x-be.x;									if(mCenter.SquareDistance(p)>=mRadius2)	return FALSE;
+
+	return TRUE;
+}
+
+#define TEST_BOX_IN_SPHERE(center, extents)	\
+	if(SphereContainsBox(center, extents))	\
+	{										\
+		/* Set contact status */			\
+		mFlags |= OPC_CONTACT;				\
+		_Dump(node);						\
+		return;								\
+	}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for normal AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_Collide(const AABBCollisionNode* node)
+{
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;
+
+	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->IsLeaf())
+	{
+		SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_Collide(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_Collide(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for normal AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
+{
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;
+
+	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->IsLeaf())
+	{
+		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_CollideNoPrimitiveTest(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_CollideNoPrimitiveTest(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_Collide(const AABBQuantizedNode* node)
+{
+	// Dequantize box
+	const QuantizedAABB& Box = node->mAABB;
+	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(Center, Extents))	return;
+
+	TEST_BOX_IN_SPHERE(Center, Extents)
+
+	if(node->IsLeaf())
+	{
+		SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_Collide(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_Collide(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node)
+{
+	// Dequantize box
+	const QuantizedAABB& Box = node->mAABB;
+	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(Center, Extents))	return;
+
+	TEST_BOX_IN_SPHERE(Center, Extents)
+
+	if(node->IsLeaf())
+	{
+		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
+	}
+	else
+	{
+		_CollideNoPrimitiveTest(node->GetPos());
+
+		if(ContactFound()) return;
+
+		_CollideNoPrimitiveTest(node->GetNeg());
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for no-leaf AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_Collide(const AABBNoLeafNode* node)
+{
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;
+
+	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->HasPosLeaf())	{ SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for no-leaf AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
+{
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;
+
+	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)
+
+	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized no-leaf AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_Collide(const AABBQuantizedNoLeafNode* node)
+{
+	// Dequantize box
+	const QuantizedAABB& Box = node->mAABB;
+	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(Center, Extents))	return;
+
+	TEST_BOX_IN_SPHERE(Center, Extents)
+
+	if(node->HasPosLeaf())	{ SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_Collide(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for quantized no-leaf AABB trees, without primitive tests.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node)
+{
+	// Dequantize box
+	const QuantizedAABB& Box = node->mAABB;
+	const IcePoint Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
+	const IcePoint Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);
+
+	// Perform Sphere-AABB overlap test
+	if(!SphereAABBOverlap(Center, Extents))	return;
+
+	TEST_BOX_IN_SPHERE(Center, Extents)
+
+	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetPos());
+
+	if(ContactFound()) return;
+
+	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
+	else					_CollideNoPrimitiveTest(node->GetNeg());
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Recursive collision query for vanilla AABB trees.
+ *	\param		node	[in] current collision node
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void SphereCollider::_Collide(const AABBTreeNode* node)
+{
+	// Perform Sphere-AABB overlap test
+	IcePoint Center, Extents;
+	node->GetAABB()->GetCenter(Center);
+	node->GetAABB()->GetExtents(Extents);
+	if(!SphereAABBOverlap(Center, Extents))	return;
+
+	if(node->IsLeaf() || SphereContainsBox(Center, Extents))
+	{
+		mFlags |= OPC_CONTACT;
+		mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
+	}
+	else
+	{
+		_Collide(node->GetPos());
+		_Collide(node->GetNeg());
+	}
+}
+
+
+
+
+
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridSphereCollider::HybridSphereCollider()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridSphereCollider::~HybridSphereCollider()
+{
+}
+
+bool HybridSphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds, const Matrix4x4* worldm)
+{
+	// We don't want primitive tests here!
+	mFlags |= OPC_NO_PRIMITIVE_TESTS;
+
+	// Checkings
+	if(!Setup(&model))	return false;
+
+	// Init collision query
+	if(InitQuery(cache, sphere, worlds, worldm))	return true;
+
+	// Special case for 1-leaf trees
+	if(mCurrentModel && mCurrentModel->HasSingleNode())
+	{
+		// Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
+		udword Nb = mIMesh->GetNbTriangles();
+
+		// Loop through all triangles
+		for(udword i=0;i<Nb;i++)
+		{
+			SPHERE_PRIM(i, OPC_CONTACT)
+		}
+		return true;
+	}
+
+	// Override destination array since we're only going to get leaf boxes here
+	mTouchedBoxes.Reset();
+	mTouchedPrimitives = &mTouchedBoxes;
+
+	// Now, do the actual query against leaf boxes
+	if(!model.HasLeafNodes())
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();
+
+			// Setup dequantization coeffs
+			mCenterCoeff	= Tree->mCenterCoeff;
+			mExtentsCoeff	= Tree->mExtentsCoeff;
+
+			// Perform collision query - we don't want primitive tests here!
+			_CollideNoPrimitiveTest(Tree->GetNodes());
+		}
+		else
+		{
+			const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();
+
+			// Perform collision query - we don't want primitive tests here!
+			_CollideNoPrimitiveTest(Tree->GetNodes());
+		}
+	}
+	else
+	{
+		if(model.IsQuantized())
+		{
+			const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();
+
+			// Setup dequantization coeffs
+			mCenterCoeff	= Tree->mCenterCoeff;
+			mExtentsCoeff	= Tree->mExtentsCoeff;
+
+			// Perform collision query - we don't want primitive tests here!
+			_CollideNoPrimitiveTest(Tree->GetNodes());
+		}
+		else
+		{
+			const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();
+
+			// Perform collision query - we don't want primitive tests here!
+			_CollideNoPrimitiveTest(Tree->GetNodes());
+		}
+	}
+
+	// We only have a list of boxes so far
+	if(GetContactStatus())
+	{
+		// Reset contact status, since it currently only reflects collisions with leaf boxes
+		Collider::InitQuery();
+
+		// Change dest container so that we can use built-in overlap tests and get collided primitives
+		cache.TouchedPrimitives.Reset();
+		mTouchedPrimitives = &cache.TouchedPrimitives;
+
+		// Read touched leaf boxes
+		udword Nb = mTouchedBoxes.GetNbEntries();
+		const udword* Touched = mTouchedBoxes.GetEntries();
+
+		const LeafTriangles* LT = model.GetLeafTriangles();
+		const udword* Indices = model.GetIndices();
+
+		// Loop through touched leaves
+		while(Nb--)
+		{
+			const LeafTriangles& CurrentLeaf = LT[*Touched++];
+
+			// Each leaf box has a set of triangles
+			udword NbTris = CurrentLeaf.GetNbTriangles();
+			if(Indices)
+			{
+				const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
+
+				// Loop through triangles and test each of them
+				while(NbTris--)
+				{
+					udword TriangleIndex = *T++;
+					SPHERE_PRIM(TriangleIndex, OPC_CONTACT)
+				}
+			}
+			else
+			{
+				udword BaseIndex = CurrentLeaf.GetTriangleIndex();
+
+				// Loop through triangles and test each of them
+				while(NbTris--)
+				{
+					udword TriangleIndex = BaseIndex++;
+					SPHERE_PRIM(TriangleIndex, OPC_CONTACT)
+				}
+			}
+		}
+	}
+
+	return true;
+}